collision.c

   1
   2 #include "quakedef.h"
   3 #include "winding.h"
   4
   5 typedef struct
   6 {
   7         // the hull we're tracing through
   8         const hull_t *hull;
   9
  10         // the trace structure to fill in
  11         trace_t *trace;
  12
  13         // start and end of the trace (in model space)
  14         double start[3];
  15         double end[3];
  16
  17         // end - start
  18         double dist[3];
  19
  20         // overrides the CONTENTS_SOLID in the box bsp tree
  21         int boxsupercontents;
  22 }
  23 RecursiveHullCheckTraceInfo_t;
  24
  25 // 1/32 epsilon to keep floating point happy
  26 #define DIST_EPSILON (0.03125)
  27
  28 #define HULLCHECKSTATE_EMPTY 0
  29 #define HULLCHECKSTATE_SOLID 1
  30 #define HULLCHECKSTATE_DONE 2
  31
  32 static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
  33 {
  34         // status variables, these don't need to be saved on the stack when
  35         // recursing...  but are because this should be thread-safe
  36         // (note: tracing against a bbox is not thread-safe, yet)
  37         int ret;
  38         mplane_t *plane;
  39         double t1, t2;
  40
  41         // variables that need to be stored on the stack when recursing
  42         dclipnode_t *node;
  43         int side;
  44         double midf, mid[3];
  45
  46         // LordHavoc: a goto!  everyone flee in terror... :)
  47 loc0:
  48         // check for empty
  49         if (num < 0)
  50         {
  51                 // translate the fake CONTENTS values in the box bsp tree
  52                 if (num == CONTENTS_SOLID)
  53                         num = t->boxsupercontents;
  54                 else
  55                         num = 0;
  56                 if (!t->trace->startfound)
  57                 {
  58                         t->trace->startfound = true;
  59                         t->trace->startsupercontents |= num;
  60                 }
  61                 if (num & t->trace->hitsupercontentsmask)
  62                 {
  63                         // if the first leaf is solid, set startsolid
  64                         if (t->trace->allsolid)
  65                                 t->trace->startsolid = true;
  66                         return HULLCHECKSTATE_SOLID;
  67                 }
  68                 else
  69                 {
  70                         t->trace->allsolid = false;
  71                         return HULLCHECKSTATE_EMPTY;
  72                 }
  73         }
  74
  75         // find the point distances
  76         node = t->hull->clipnodes + num;
  77
  78         plane = t->hull->planes + node->planenum;
  79         if (plane->type < 3)
  80         {
  81                 t1 = p1[plane->type] - plane->dist;
  82                 t2 = p2[plane->type] - plane->dist;
  83         }
  84         else
  85         {
  86                 t1 = DotProduct (plane->normal, p1) - plane->dist;
  87                 t2 = DotProduct (plane->normal, p2) - plane->dist;
  88         }
  89
  90         if (t1 < 0)
  91         {
  92                 if (t2 < 0)
  93                 {
  94                         num = node->children[1];
  95                         goto loc0;
  96                 }
  97                 side = 1;
  98         }
  99         else
 100         {
 101                 if (t2 >= 0)
 102                 {
 103                         num = node->children[0];
 104                         goto loc0;
 105                 }
 106                 side = 0;
 107         }
 108
 109         // the line intersects, find intersection point
 110         // LordHavoc: this uses the original trace for maximum accuracy
 111         if (plane->type < 3)
 112         {
 113                 t1 = t->start[plane->type] - plane->dist;
 114                 t2 = t->end[plane->type] - plane->dist;
 115         }
 116         else
 117         {
 118                 t1 = DotProduct (plane->normal, t->start) - plane->dist;
 119                 t2 = DotProduct (plane->normal, t->end) - plane->dist;
 120         }
 121
 122         midf = t1 / (t1 - t2);
 123         midf = bound(p1f, midf, p2f);
 124         VectorMA(t->start, midf, t->dist, mid);
 125
 126         // recurse both sides, front side first
 127         ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
 128         // if this side is not empty, return what it is (solid or done)
 129         if (ret != HULLCHECKSTATE_EMPTY)
 130                 return ret;
 131
 132         ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
 133         // if other side is not solid, return what it is (empty or done)
 134         if (ret != HULLCHECKSTATE_SOLID)
 135                 return ret;
 136
 137         // front is air and back is solid, this is the impact point...
 138         if (side)
 139         {
 140                 t->trace->plane.dist = -plane->dist;
 141                 VectorNegate (plane->normal, t->trace->plane.normal);
 142         }
 143         else
 144         {
 145                 t->trace->plane.dist = plane->dist;
 146                 VectorCopy (plane->normal, t->trace->plane.normal);
 147         }
 148
 149         // bias away from surface a bit
 150         t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
 151         t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
 152
 153         midf = t1 / (t1 - t2);
 154         t->trace->fraction = bound(0.0f, midf, 1.0);
 155
 156         VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
 157
 158         return HULLCHECKSTATE_DONE;
 159 }
 160
 161 #if 0
 162 // used if start and end are the same
 163 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 164 {
 165         // If you can read this, you understand BSP trees
 166         while (num >= 0)
 167                 num = t->hull->clipnodes[num].children[((t->hull->planes[t->hull->clipnodes[num].planenum].type < 3) ? (t->start[t->hull->planes[t->hull->clipnodes[num].planenum].type]) : (DotProduct(t->hull->planes[t->hull->clipnodes[num].planenum].normal, t->start))) < t->hull->planes[t->hull->clipnodes[num].planenum].dist];
 168
 169         // check for empty
 170         t->trace->endcontents = num;
 171         if (t->trace->thiscontents)
 172         {
 173                 if (num == t->trace->thiscontents)
 174                         t->trace->allsolid = false;
 175                 else
 176                 {
 177                         // if the first leaf is solid, set startsolid
 178                         if (t->trace->allsolid)
 179                                 t->trace->startsolid = true;
 180                 }
 181         }
 182         else
 183         {
 184                 if (num != CONTENTS_SOLID)
 185                 {
 186                         t->trace->allsolid = false;
 187                         if (num == CONTENTS_EMPTY)
 188                                 t->trace->inopen = true;
 189                         else
 190                                 t->trace->inwater = true;
 191                 }
 192                 else
 193                 {
 194                         // if the first leaf is solid, set startsolid
 195                         if (t->trace->allsolid)
 196                                 t->trace->startsolid = true;
 197                 }
 198         }
 199 }
 200 #endif
 201
 202 static hull_t box_hull;
 203 static dclipnode_t box_clipnodes[6];
 204 static mplane_t box_planes[6];
 205
 206 void Collision_Init (void)
 207 {
 208         int             i;
 209         int             side;
 210
 211         //Set up the planes and clipnodes so that the six floats of a bounding box
 212         //can just be stored out and get a proper hull_t structure.
 213
 214         box_hull.clipnodes = box_clipnodes;
 215         box_hull.planes = box_planes;
 216         box_hull.firstclipnode = 0;
 217         box_hull.lastclipnode = 5;
 218
 219         for (i = 0;i < 6;i++)
 220         {
 221                 box_clipnodes[i].planenum = i;
 222
 223                 side = i&1;
 224
 225                 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
 226                 if (i != 5)
 227                         box_clipnodes[i].children[side^1] = i + 1;
 228                 else
 229                         box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
 230
 231                 box_planes[i].type = i>>1;
 232                 box_planes[i].normal[i>>1] = 1;
 233         }
 234 }
 235
 236 void Collision_ClipTrace_Box(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int boxsupercontents)
 237 {
 238         RecursiveHullCheckTraceInfo_t rhc;
 239         // fill in a default trace
 240         memset(&rhc, 0, sizeof(rhc));
 241         memset(trace, 0, sizeof(trace_t));
 242         //To keep everything totally uniform, bounding boxes are turned into small
 243         //BSP trees instead of being compared directly.
 244         // create a temp hull from bounding box sizes
 245         box_planes[0].dist = cmaxs[0] - mins[0];
 246         box_planes[1].dist = cmins[0] - maxs[0];
 247         box_planes[2].dist = cmaxs[1] - mins[1];
 248         box_planes[3].dist = cmins[1] - maxs[1];
 249         box_planes[4].dist = cmaxs[2] - mins[2];
 250         box_planes[5].dist = cmins[2] - maxs[2];
 251         // trace a line through the generated clipping hull
 252         rhc.boxsupercontents = boxsupercontents;
 253         rhc.hull = &box_hull;
 254         rhc.trace = trace;
 255         rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
 256         rhc.trace->fraction = 1;
 257         rhc.trace->allsolid = true;
 258         VectorCopy(start, rhc.start);
 259         VectorCopy(end, rhc.end);
 260         VectorSubtract(rhc.end, rhc.start, rhc.dist);
 261         RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
 262 }
 263
 264
 265
 266
 267
 268
 269
 270
 271
 272
 273
 274
 275
 276
 277
 278 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
 279 {
 280         int i;
 281         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
 282         for (i = 0;i < brush->numpoints;i++)
 283                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
 284         // FIXME: optimize!
 285         Con_Printf("4\n%i\n", brush->numplanes);
 286         for (i = 0;i < brush->numplanes;i++)
 287                 Con_Printf("%f %f %f %f\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
 288 }
 289
 290 void Collision_ValidateBrush(colbrushf_t *brush)
 291 {
 292         int j, k, pointsoffplanes, printbrush;
 293         float d;
 294         printbrush = false;
 295         if (!brush->numpoints)
 296         {
 297                 Con_Printf("Collision_ValidateBrush: brush with no points!\n");
 298                 printbrush = true;
 299         }
 300 #if 0
 301         // it's ok for a brush to have one point and no planes...
 302         if (brush->numplanes == 0 && brush->numpoints != 1)
 303         {
 304                 Con_Printf("Collision_ValidateBrush: brush with no planes and more than one point!\n");
 305                 printbrush = true;
 306         }
 307 #endif
 308         if (brush->numplanes)
 309         {
 310                 pointsoffplanes = 0;
 311                 for (k = 0;k < brush->numplanes;k++)
 312                 {
 313                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
 314                                 Con_Printf("Collision_ValidateBrush: plane #%i (%f %f %f %f) is degenerate\n", k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
 315                         for (j = 0;j < brush->numpoints;j++)
 316                         {
 317                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
 318                                 if (d > (1.0f / 8.0f))
 319                                 {
 320                                         Con_Printf("Collision_ValidateBrush: point #%i (%f %f %f) infront of plane #%i (%f %f %f %f)\n", j, brush->points[j].v[0], brush->points[j].v[1], brush->points[j].v[2], k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
 321                                         printbrush = true;
 322                                 }
 323                                 if (fabs(d) > 0.01f)
 324                                         pointsoffplanes++;
 325                         }
 326                 }
 327                 if (pointsoffplanes == 0) // all points are on all planes
 328                 {
 329                         Con_Printf("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 330                         printbrush = true;
 331                 }
 332         }
 333         if (printbrush)
 334                 Collision_PrintBrushAsQHull(brush, "unnamed");
 335 }
 336
 337 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 338 {
 339         float dist, bestdist;
 340         bestdist = DotProduct(points->v, normal);
 341         points++;
 342         while(--numpoints)
 343         {
 344                 dist = DotProduct(points->v, normal);
 345                 bestdist = min(bestdist, dist);
 346                 points++;
 347         }
 348         return bestdist;
 349 }
 350
 351 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 352 {
 353         float dist, bestdist;
 354         bestdist = DotProduct(points->v, normal);
 355         points++;
 356         while(--numpoints)
 357         {
 358                 dist = DotProduct(points->v, normal);
 359                 bestdist = max(bestdist, dist);
 360                 points++;
 361         }
 362         return bestdist;
 363 }
 364
 365
 366 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents, winding_t *temp1, winding_t *temp2)
 367 {
 368         int j, k, m;
 369         int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
 370         winding_t *w, *temp, *othertemp;
 371         colbrushf_t *brush;
 372         colpointf_t pointsbuf[256];
 373         colplanef_t planesbuf[256];
 374         int elementsbuf[1024];
 375         int polypointbuf[256];
 376         float mins[3], maxs[3];
 377         // construct a collision brush (points, planes, and renderable mesh) from
 378         // a set of planes, this also optimizes out any unnecessary planes (ones
 379         // whose polygon is clipped away by the other planes)
 380         numpoints = 0;maxpoints = 256;
 381         numplanes = 0;maxplanes = 256;
 382         numelements = 0;maxelements = 1024;
 383         numtriangles = 0;
 384         maxpolypoints = 256;
 385         for (j = 0;j < numoriginalplanes;j++)
 386         {
 387                 // add the plane uniquely (no duplicates)
 388                 for (k = 0;k < numplanes;k++)
 389                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 390                                 break;
 391                 // if the plane is a duplicate, skip it
 392                 if (k < numplanes)
 393                         continue;
 394                 // check if there are too many and skip the brush
 395                 if (numplanes >= 256)
 396                 {
 397                         Con_Printf("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
 398                         return NULL;
 399                 }
 400
 401                 // create a large polygon from the plane
 402                 w = temp1;
 403                 othertemp = temp2;
 404                 BufWinding_NewFromPlane(w, originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
 405                 // clip it by all other planes
 406                 for (k = 0;k < numoriginalplanes && w->numpoints;k++)
 407                 {
 408                         if (k != j)
 409                         {
 410                                 // we want to keep the inside of the brush plane so we flip
 411                                 // the cutting plane
 412                                 BufWinding_Divide(w, -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, othertemp, NULL, NULL, NULL);
 413                                 temp = w;
 414                                 w = othertemp;
 415                                 othertemp = temp;
 416                         }
 417                 }
 418                 // if nothing is left, skip it
 419                 if (!w->numpoints)
 420                         continue;
 421
 422                 // copy off the number of points for later when the winding is freed
 423                 numpolypoints = w->numpoints;
 424
 425                 // check if there are too many polygon vertices for buffer
 426                 if (numpolypoints > maxpolypoints)
 427                 {
 428                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 429                         return NULL;
 430                 }
 431
 432                 // check if there are too many triangle elements for buffer
 433                 if (numelements + (w->numpoints - 2) * 3 > maxelements)
 434                 {
 435                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 436                         return NULL;
 437                 }
 438
 439                 for (k = 0;k < w->numpoints;k++)
 440                 {
 441                         // check if there is already a matching point (no duplicates)
 442                         for (m = 0;m < numpoints;m++)
 443                                 if (VectorDistance2(w->points[k], pointsbuf[m].v) < DIST_EPSILON)
 444                                         break;
 445
 446                         // if there is no match, add a new one
 447                         if (m == numpoints)
 448                         {
 449                                 // check if there are too many and skip the brush
 450                                 if (numpoints >= 256)
 451                                 {
 452                                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 453                                         Winding_Free(w);
 454                                         return NULL;
 455                                 }
 456                                 // add the new one
 457                                 VectorCopy(w->points[k], pointsbuf[numpoints].v);
 458                                 numpoints++;
 459                         }
 460
 461                         // store the index into a buffer
 462                         polypointbuf[k] = m;
 463                 }
 464                 w = NULL;
 465                 othertemp = NULL;
 466                 temp = NULL;
 467
 468                 // add the triangles for the polygon
 469                 // (this particular code makes a triangle fan)
 470                 for (k = 0;k < numpolypoints - 2;k++)
 471                 {
 472                         numtriangles++;
 473                         elementsbuf[numelements++] = polypointbuf[0];
 474                         elementsbuf[numelements++] = polypointbuf[k + 1];
 475                         elementsbuf[numelements++] = polypointbuf[k + 2];
 476                 }
 477
 478                 // add the new plane
 479                 VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
 480                 planesbuf[numplanes].dist = originalplanes[j].dist;
 481                 numplanes++;
 482         }
 483
 484         // recalc distances
 485         for (j = 0;j < numplanes;j++)
 486                 planesbuf[j].dist = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpoints);
 487
 488         if (numpoints)
 489         {
 490                 VectorCopy(pointsbuf[0].v, mins);
 491                 VectorCopy(pointsbuf[0].v, maxs);
 492                 for (j = 1;j < numpoints;j++)
 493                 {
 494                         mins[0] = min(mins[0], pointsbuf[j].v[0]);
 495                         mins[1] = min(mins[1], pointsbuf[j].v[1]);
 496                         mins[2] = min(mins[2], pointsbuf[j].v[2]);
 497                         maxs[0] = max(maxs[0], pointsbuf[j].v[0]);
 498                         maxs[1] = max(maxs[1], pointsbuf[j].v[1]);
 499                         maxs[2] = max(maxs[2], pointsbuf[j].v[2]);
 500                 }
 501         }
 502
 503         // if nothing is left, there's nothing to allocate
 504         if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
 505                 return NULL;
 506
 507         // allocate the brush and copy to it
 508         brush = Collision_AllocBrushFloat(mempool, numpoints, numplanes, numtriangles, supercontents);
 509         memcpy(brush->points, pointsbuf, numpoints * sizeof(colpointf_t));
 510         memcpy(brush->planes, planesbuf, numplanes * sizeof(colplanef_t));
 511         memcpy(brush->elements, elementsbuf, numtriangles * sizeof(int[3]));
 512         VectorCopy(mins, brush->mins);
 513         VectorCopy(maxs, brush->maxs);
 514         Collision_ValidateBrush(brush);
 515         return brush;
 516 }
 517
 518
 519
 520 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
 521 {
 522         colbrushf_t *brush;
 523         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
 524         brush->supercontents = supercontents;
 525         brush->numplanes = numplanes;
 526         brush->numpoints = numpoints;
 527         brush->numtriangles = numtriangles;
 528         brush->planes = (void *)(brush + 1);
 529         brush->points = (void *)(brush->planes + brush->numplanes);
 530         brush->elements = (void *)(brush->points + brush->numpoints);
 531         return brush;
 532 }
 533
 534 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 535 {
 536         int i;
 537         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
 538         colpointf_t *p, *p2;
 539
 540         if (brush->numpoints == 3)
 541         {
 542                 // optimized triangle case
 543                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 544                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 545                 {
 546                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 547                         brush->numplanes = 0;
 548                         return;
 549                 }
 550                 else
 551                 {
 552                         brush->numplanes = 5;
 553                         VectorNormalize(brush->planes[0].normal);
 554                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 555                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 556                         brush->planes[1].dist = -brush->planes[0].dist;
 557                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 558                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 559                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 560                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 561                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 562                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 563                         VectorNormalize(brush->planes[2].normal);
 564                         VectorNormalize(brush->planes[3].normal);
 565                         VectorNormalize(brush->planes[4].normal);
 566                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 567                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 568                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 569
 570                         if (developer.integer)
 571                         {
 572                                 // validation code
 573                                 //VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 574                                 //VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 575                                 CrossProduct(edge1, edge0, normal);
 576                                 VectorNormalize(normal);
 577                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 578                                 if (VectorLength(temp) > 0.01f)
 579                                         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]);
 580                                 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)
 581                                         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);
 582                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 583                                         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);
 584                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 585                                         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);
 586                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 587                                         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);
 588                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 589                                         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]);
 590                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 591                                         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]);
 592                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 593                                         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]);
 594                                 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)
 595                                         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);
 596                                 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)
 597                                         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);
 598                                 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)
 599                                         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);
 600                                 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)
 601                                         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);
 602                                 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)
 603                                         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);
 604                         }
 605                 }
 606         }
 607         else
 608         {
 609                 // choose best surface normal for polygon's plane
 610                 bestdist = 0;
 611                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 612                 {
 613                         VectorSubtract(p[-1].v, p[0].v, edge0);
 614                         VectorSubtract(p[1].v, p[0].v, edge1);
 615                         CrossProduct(edge0, edge1, normal);
 616                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 617                         dist = DotProduct(normal, normal);
 618                         if (i == 0 || bestdist < dist)
 619                         {
 620                                 bestdist = dist;
 621                                 VectorCopy(normal, brush->planes->normal);
 622                         }
 623                 }
 624                 if (bestdist < 0.0001f)
 625                 {
 626                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 627                         brush->numplanes = 0;
 628                         return;
 629                 }
 630                 else
 631                 {
 632                         brush->numplanes = brush->numpoints + 2;
 633                         VectorNormalize(brush->planes->normal);
 634                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 635
 636                         // negate plane to create other side
 637                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 638                         brush->planes[1].dist = -brush->planes[0].dist;
 639                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 640                         {
 641                                 VectorSubtract(p->v, p2->v, edge0);
 642                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 643                                 VectorNormalize(brush->planes[i + 2].normal);
 644                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 645                         }
 646                 }
 647         }
 648
 649         if (developer.integer)
 650         {
 651                 // validity check - will be disabled later
 652                 Collision_ValidateBrush(brush);
 653                 for (i = 0;i < brush->numplanes;i++)
 654                 {
 655                         int j;
 656                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 657                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
 658                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 659                 }
 660         }
 661 }
 662
 663 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 664 {
 665         colbrushf_t *brush;
 666         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 667         brush->supercontents = supercontents;
 668         brush->numpoints = numpoints;
 669         brush->numplanes = numpoints + 2;
 670         brush->planes = (void *)(brush + 1);
 671         brush->points = (colpointf_t *)points;
 672         Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
 673         return brush;
 674 }
 675
 676 #define COLLISIONEPSILON (1.0f / 32.0f)
 677 #define COLLISIONEPSILON2 0//(1.0f / 32.0f)
 678
 679 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 680 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)
 681 {
 682         int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
 683         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 684         const colplanef_t *startplane, *endplane;
 685
 686         enterfrac = -1;
 687         leavefrac = 1;
 688         fstartsolid = true;
 689         fendsolid = true;
 690
 691         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 692         {
 693                 nplane2 = nplane;
 694                 if (nplane2 >= thatbrush_start->numplanes)
 695                 {
 696                         nplane2 -= thatbrush_start->numplanes;
 697                         startplane = thisbrush_start->planes + nplane2;
 698                         endplane = thisbrush_end->planes + nplane2;
 699                         if (developer.integer)
 700                         {
 701                                 // any brush with degenerate planes is not worth handling
 702                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 703                                 {
 704                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 705                                         return;
 706                                 }
 707                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 708                                 if (fabs(f - startplane->dist) > 0.01f)
 709                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 710                         }
 711                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 712                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
 713                 }
 714                 else
 715                 {
 716                         startplane = thatbrush_start->planes + nplane2;
 717                         endplane = thatbrush_end->planes + nplane2;
 718                         if (developer.integer)
 719                         {
 720                                 // any brush with degenerate planes is not worth handling
 721                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 722                                 {
 723                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 724                                         return;
 725                                 }
 726                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 727                                 if (fabs(f - startplane->dist) > 0.01f)
 728                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 729                         }
 730                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist;
 731                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - startplane->dist - COLLISIONEPSILON2;
 732                 }
 733                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 734
 735                 f = d1 - d2;
 736                 if (f >= 0)
 737                 {
 738                         // moving into brush
 739                         if (d2 > 0)
 740                                 return;
 741                         if (d1 < 0)
 742                                 continue;
 743                         // enter
 744                         fstartsolid = false;
 745                         f = (d1 - COLLISIONEPSILON) / f;
 746                         f = bound(0, f, 1);
 747                         if (enterfrac < f)
 748                         {
 749                                 enterfrac = f;
 750                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 751                         }
 752                 }
 753                 else
 754                 {
 755                         // moving out of brush
 756                         if (d1 > 0)
 757                                 return;
 758                         if (d2 < 0)
 759                                 continue;
 760                         // leave
 761                         fendsolid = false;
 762                         f = (d1 + COLLISIONEPSILON) / f;
 763                         f = bound(0, f, 1);
 764                         if (leavefrac > f)
 765                                 leavefrac = f;
 766                 }
 767         }
 768
 769         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 770         if (fstartsolid)
 771         {
 772                 trace->startsupercontents |= thatbrush_start->supercontents;
 773                 if (brushsolid)
 774                 {
 775                         trace->startsolid = true;
 776                         if (fendsolid)
 777                                 trace->allsolid = true;
 778                 }
 779         }
 780
 781         // LordHavoc: we need an epsilon nudge here because for a point trace the
 782         // penetrating line segment is normally zero length if this brush was
 783         // generated from a polygon (infinitely thin), and could even be slightly
 784         // positive or negative due to rounding errors in that case.
 785         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 786         {
 787                 trace->fraction = bound(0, enterfrac, 1);
 788                 VectorCopy(newimpactnormal, trace->plane.normal);
 789         }
 790 }
 791
 792 // NOTE: start and end brush pair must have same numplanes/numpoints
 793 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 794 {
 795         int nplane, fstartsolid, fendsolid, brushsolid;
 796         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 797         const colplanef_t *startplane, *endplane;
 798
 799         enterfrac = -1;
 800         leavefrac = 1;
 801         fstartsolid = true;
 802         fendsolid = true;
 803
 804         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 805         {
 806                 startplane = thatbrush_start->planes + nplane;
 807                 endplane = thatbrush_end->planes + nplane;
 808                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
 809                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - COLLISIONEPSILON2;
 810                 if (developer.integer)
 811                 {
 812                         // any brush with degenerate planes is not worth handling
 813                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 814                         {
 815                                 Con_Printf("Collision_TraceLineBrushFloat: degenerate plane!\n");
 816                                 return;
 817                         }
 818                         f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 819                         if (fabs(f - startplane->dist) > 0.01f)
 820                                 Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 821                 }
 822
 823                 f = d1 - d2;
 824                 if (f >= 0)
 825                 {
 826                         // moving into brush
 827                         if (d2 > 0)
 828                                 return;
 829                         if (d1 < 0)
 830                                 continue;
 831                         // enter
 832                         fstartsolid = false;
 833                         f = (d1 - COLLISIONEPSILON) / f;
 834                         f = bound(0, f, 1);
 835                         if (enterfrac < f)
 836                         {
 837                                 enterfrac = f;
 838                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 839                         }
 840                 }
 841                 else
 842                 {
 843                         // moving out of brush
 844                         if (d1 > 0)
 845                                 return;
 846                         if (d2 < 0)
 847                                 continue;
 848                         // leave
 849                         fendsolid = false;
 850                         f = (d1 + COLLISIONEPSILON) / f;
 851                         f = bound(0, f, 1);
 852                         if (leavefrac > f)
 853                                 leavefrac = f;
 854                 }
 855         }
 856
 857         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 858         if (fstartsolid)
 859         {
 860                 trace->startsupercontents |= thatbrush_start->supercontents;
 861                 if (brushsolid)
 862                 {
 863                         trace->startsolid = true;
 864                         if (fendsolid)
 865                                 trace->allsolid = true;
 866                 }
 867         }
 868
 869         // LordHavoc: we need an epsilon nudge here because for a point trace the
 870         // penetrating line segment is normally zero length if this brush was
 871         // generated from a polygon (infinitely thin), and could even be slightly
 872         // positive or negative due to rounding errors in that case.
 873         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 874         {
 875                 trace->fraction = bound(0, enterfrac, 1);
 876                 VectorCopy(newimpactnormal, trace->plane.normal);
 877         }
 878 }
 879
 880 static colpointf_t polyf_points[256];
 881 static colplanef_t polyf_planes[256 + 2];
 882 static colbrushf_t polyf_brush;
 883
 884 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 885 {
 886         if (numpoints > 256)
 887         {
 888                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 889                 return;
 890         }
 891         polyf_brush.numpoints = numpoints;
 892         polyf_brush.numplanes = numpoints + 2;
 893         polyf_brush.points = (colpointf_t *)points;
 894         polyf_brush.planes = polyf_planes;
 895         polyf_brush.supercontents = supercontents;
 896         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 897         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 898         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 899 }
 900
 901 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)
 902 {
 903         int i;
 904         float facemins[3], facemaxs[3];
 905         polyf_brush.numpoints = 3;
 906         polyf_brush.numplanes = 5;
 907         polyf_brush.points = polyf_points;
 908         polyf_brush.planes = polyf_planes;
 909         polyf_brush.supercontents = supercontents;
 910         for (i = 0;i < numtriangles;i++, element3i += 3)
 911         {
 912                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 913                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 914                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 915                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 916                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 917                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 918                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 919                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 920                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 921                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 922                 {
 923                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 924                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 925                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 926                 }
 927         }
 928 }
 929
 930 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 931 {
 932         if (numpoints > 256)
 933         {
 934                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 935                 return;
 936         }
 937         polyf_brush.numpoints = numpoints;
 938         polyf_brush.numplanes = numpoints + 2;
 939         polyf_brush.points = (colpointf_t *)points;
 940         polyf_brush.planes = polyf_planes;
 941         polyf_brush.supercontents = supercontents;
 942         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 943         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 944         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 945 }
 946
 947 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)
 948 {
 949         int i;
 950         float facemins[3], facemaxs[3];
 951         polyf_brush.numpoints = 3;
 952         polyf_brush.numplanes = 5;
 953         polyf_brush.points = polyf_points;
 954         polyf_brush.planes = polyf_planes;
 955         polyf_brush.supercontents = supercontents;
 956         for (i = 0;i < numtriangles;i++, element3i += 3)
 957         {
 958                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 959                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 960                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 961                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 962                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 963                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 964                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 965                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 966                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 967                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 968                 {
 969                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 970                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 971                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 972                 }
 973         }
 974 }
 975
 976
 977 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 978 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 979 static colbrushf_t polyf_brushstart, polyf_brushend;
 980
 981 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)
 982 {
 983         int i;
 984         if (numpoints > 256)
 985         {
 986                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 987                 return;
 988         }
 989         polyf_brushstart.numpoints = numpoints;
 990         polyf_brushstart.numplanes = numpoints + 2;
 991         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 992         polyf_brushstart.planes = polyf_planesstart;
 993         polyf_brushstart.supercontents = supercontents;
 994         for (i = 0;i < numpoints;i++)
 995                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 996         polyf_brushend.numpoints = numpoints;
 997         polyf_brushend.numplanes = numpoints + 2;
 998         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 999         polyf_brushend.planes = polyf_planesend;
1000         polyf_brushend.supercontents = supercontents;
1001         for (i = 0;i < numpoints;i++)
1002                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
1003         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
1004         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
1005
1006         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1007         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1008
1009         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1010 }
1011
1012
1013
1014 #define MAX_BRUSHFORBOX 16
1015 static int brushforbox_index = 0;
1016 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1017 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1018 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1019 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1020
1021 void Collision_InitBrushForBox(void)
1022 {
1023         int i;
1024         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1025         {
1026                 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
1027                 brushforbox_brush[i].numpoints = 8;
1028                 brushforbox_brush[i].numplanes = 6;
1029                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1030                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1031                 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
1032                 brushforpoint_brush[i].numpoints = 1;
1033                 brushforpoint_brush[i].numplanes = 0;
1034                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1035                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1036         }
1037 }
1038
1039 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1040 {
1041         int i;
1042         vec3_t v;
1043         colbrushf_t *brush;
1044         if (brushforbox_brush[0].numpoints == 0)
1045                 Collision_InitBrushForBox();
1046         if (VectorCompare(mins, maxs))
1047         {
1048                 // point brush
1049                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1050                 VectorCopy(mins, brush->points->v);
1051         }
1052         else
1053         {
1054                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1055                 // FIXME: optimize
1056                 for (i = 0;i < 8;i++)
1057                 {
1058                         v[0] = i & 1 ? maxs[0] : mins[0];
1059                         v[1] = i & 2 ? maxs[1] : mins[1];
1060                         v[2] = i & 4 ? maxs[2] : mins[2];
1061                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1062                 }
1063                 // FIXME: optimize!
1064                 for (i = 0;i < 6;i++)
1065                 {
1066                         VectorClear(v);
1067                         v[i >> 1] = i & 1 ? 1 : -1;
1068                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1069                         VectorNormalize(brush->planes[i].normal);
1070                         brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
1071                 }
1072         }
1073         Collision_ValidateBrush(brush);
1074         return brush;
1075 }
1076
1077 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)
1078 {
1079         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1080         matrix4x4_t identitymatrix;
1081         vec3_t startmins, startmaxs, endmins, endmaxs;
1082
1083         // create brushes for the collision
1084         VectorAdd(start, mins, startmins);
1085         VectorAdd(start, maxs, startmaxs);
1086         VectorAdd(end, mins, endmins);
1087         VectorAdd(end, maxs, endmaxs);
1088         Matrix4x4_CreateIdentity(&identitymatrix);
1089         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1090         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1091         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1092
1093         memset(trace, 0, sizeof(trace_t));
1094         trace->hitsupercontentsmask = hitsupercontentsmask;
1095         trace->fraction = 1;
1096         trace->allsolid = true;
1097         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1098 }
1099
1100 // LordHavoc: currently unused and not yet tested
1101 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1102 // by simply adding the moving sphere's radius to the sphereradius parameter,
1103 // all the results are correct (impactpoint, impactnormal, and fraction)
1104 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1105 {
1106         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1107         // make sure the impactpoint and impactnormal are valid even if there is
1108         // no collision
1109         impactpoint[0] = lineend[0];
1110         impactpoint[1] = lineend[1];
1111         impactpoint[2] = lineend[2];
1112         impactnormal[0] = 0;
1113         impactnormal[1] = 0;
1114         impactnormal[2] = 0;
1115         // calculate line direction
1116         dir[0] = lineend[0] - linestart[0];
1117         dir[1] = lineend[1] - linestart[1];
1118         dir[2] = lineend[2] - linestart[2];
1119         // normalize direction
1120         linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
1121         if (linelength)
1122         {
1123                 scale = 1.0 / linelength;
1124                 dir[0] *= scale;
1125                 dir[1] *= scale;
1126                 dir[2] *= scale;
1127         }
1128         // this dotproduct calculates the distance along the line at which the
1129         // sphere origin is (nearest point to the sphere origin on the line)
1130         impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
1131         // calculate point on line at that distance, and subtract the
1132         // sphereorigin from it, so we have a vector to measure for the distance
1133         // of the line from the sphereorigin (deviation, how off-center it is)
1134         v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
1135         v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
1136         v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
1137         deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
1138         // if outside the radius, it's a miss for sure
1139         // (we do this comparison using squared radius to avoid a sqrt)
1140         if (deviationdist > sphereradius*sphereradius)
1141                 return 1; // miss (off to the side)
1142         // nudge back to find the correct impact distance
1143         impactdist += (sqrt(deviationdist) - sphereradius);
1144         if (impactdist >= linelength)
1145                 return 1; // miss (not close enough)
1146         if (impactdist < 0)
1147                 return 1; // miss (linestart is past or inside sphere)
1148         // calculate new impactpoint
1149         impactpoint[0] = linestart[0] + impactdist * dir[0];
1150         impactpoint[1] = linestart[1] + impactdist * dir[1];
1151         impactpoint[2] = linestart[2] + impactdist * dir[2];
1152         // calculate impactnormal (surface normal at point of impact)
1153         impactnormal[0] = impactpoint[0] - sphereorigin[0];
1154         impactnormal[1] = impactpoint[1] - sphereorigin[1];
1155         impactnormal[2] = impactpoint[2] - sphereorigin[2];
1156         // normalize impactnormal
1157         scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
1158         if (scale)
1159         {
1160                 scale = 1.0 / sqrt(scale);
1161                 impactnormal[0] *= scale;
1162                 impactnormal[1] *= scale;
1163                 impactnormal[2] *= scale;
1164         }
1165         // return fraction of movement distance
1166         return impactdist / linelength;
1167 }
1168
1169 typedef struct colbspnode_s
1170 {
1171         mplane_t plane;
1172         struct colbspnode_s *children[2];
1173         // the node is reallocated or split if max is reached
1174         int numcolbrushf;
1175         int maxcolbrushf;
1176         colbrushf_t **colbrushflist;
1177         //int numcolbrushd;
1178         //int maxcolbrushd;
1179         //colbrushd_t **colbrushdlist;
1180 }
1181 colbspnode_t;
1182
1183 typedef struct colbsp_s
1184 {
1185         mempool_t *mempool;
1186         colbspnode_t *nodes;
1187 }
1188 colbsp_t;
1189
1190 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1191 {
1192         colbsp_t *bsp;
1193         bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
1194         bsp->mempool = mempool;
1195         bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1196         return bsp;
1197 }
1198
1199 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1200 {
1201         if (node->children[0])
1202                 Collision_FreeCollisionBSPNode(node->children[0]);
1203         if (node->children[1])
1204                 Collision_FreeCollisionBSPNode(node->children[1]);
1205         while (--node->numcolbrushf)
1206                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1207         //while (--node->numcolbrushd)
1208         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1209         Mem_Free(node);
1210 }
1211
1212 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1213 {
1214         Collision_FreeCollisionBSPNode(bsp->nodes);
1215         Mem_Free(bsp);
1216 }
1217
1218 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1219 {
1220         int i;
1221         colpointf_t *ps, *pe;
1222         float tempstart[3], tempend[3];
1223         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1224         VectorCopy(mins, maxs);
1225         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1226         {
1227                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1228                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1229                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1230                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1231                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1232                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1233                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1234                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1235         }
1236 }
1237