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", "how much to back off from the impact"};
   9 cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
  10 cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
  11 cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
  12 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
  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 colplanef_t *originalplanes)
 137 {
 138         // TODO: planesbuf could be replaced by a remapping table
 139         int j, k, m, w;
 140         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
 141         colbrushf_t *brush;
 142         colpointf_t pointsbuf[256];
 143         colplanef_t planesbuf[256];
 144         int elementsbuf[1024];
 145         int polypointbuf[256];
 146         int pmaxpoints = 64;
 147         int pnumpoints;
 148         double p[2][3*64];
 149 #if 0
 150         // enable these if debugging to avoid seeing garbage in unused data
 151         memset(pointsbuf, 0, sizeof(pointsbuf));
 152         memset(planesbuf, 0, sizeof(planesbuf));
 153         memset(elementsbuf, 0, sizeof(elementsbuf));
 154         memset(polypointbuf, 0, sizeof(polypointbuf));
 155         memset(p, 0, sizeof(p));
 156 #endif
 157         // construct a collision brush (points, planes, and renderable mesh) from
 158         // a set of planes, this also optimizes out any unnecessary planes (ones
 159         // whose polygon is clipped away by the other planes)
 160         for (j = 0;j < numoriginalplanes;j++)
 161         {
 162                 // add the plane uniquely (no duplicates)
 163                 for (k = 0;k < numplanesbuf;k++)
 164                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 165                                 break;
 166                 // if the plane is a duplicate, skip it
 167                 if (k < numplanesbuf)
 168                         continue;
 169                 // check if there are too many and skip the brush
 170                 if (numplanesbuf >= maxplanesbuf)
 171                 {
 172                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
 173                         return NULL;
 174                 }
 175
 176                 // create a large polygon from the plane
 177                 w = 0;
 178                 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);
 179                 pnumpoints = 4;
 180                 // clip it by all other planes
 181                 for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
 182                 {
 183                         if (k != j)
 184                         {
 185                                 // we want to keep the inside of the brush plane so we flip
 186                                 // the cutting plane
 187                                 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, NULL);
 188                                 w = !w;
 189                         }
 190                 }
 191                 // if nothing is left, skip it
 192                 if (pnumpoints < 3)
 193                 {
 194                         //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);
 195                         continue;
 196                 }
 197
 198                 for (k = 0;k < pnumpoints;k++)
 199                 {
 200                         int l, m;
 201                         m = 0;
 202                         for (l = 0;l < numoriginalplanes;l++)
 203                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < 1.0/8.0)
 204                                         m++;
 205                         if (m < 3)
 206                                 break;
 207                 }
 208                 if (k < pnumpoints)
 209                 {
 210                         Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
 211                         //return NULL;
 212                 }
 213
 214                 // check if there are too many polygon vertices for buffer
 215                 if (pnumpoints > pmaxpoints)
 216                 {
 217                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 218                         return NULL;
 219                 }
 220
 221                 // check if there are too many triangle elements for buffer
 222                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
 223                 {
 224                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 225                         return NULL;
 226                 }
 227
 228                 for (k = 0;k < pnumpoints;k++)
 229                 {
 230                         // check if there is already a matching point (no duplicates)
 231                         for (m = 0;m < numpointsbuf;m++)
 232                                 if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
 233                                         break;
 234
 235                         // if there is no match, add a new one
 236                         if (m == numpointsbuf)
 237                         {
 238                                 // check if there are too many and skip the brush
 239                                 if (numpointsbuf >= maxpointsbuf)
 240                                 {
 241                                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 242                                         return NULL;
 243                                 }
 244                                 // add the new one
 245                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
 246                                 numpointsbuf++;
 247                         }
 248
 249                         // store the index into a buffer
 250                         polypointbuf[k] = m;
 251                 }
 252
 253                 // add the triangles for the polygon
 254                 // (this particular code makes a triangle fan)
 255                 for (k = 0;k < pnumpoints - 2;k++)
 256                 {
 257                         elementsbuf[numelementsbuf++] = polypointbuf[0];
 258                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
 259                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
 260                 }
 261
 262                 // add the new plane
 263                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
 264                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
 265                 planesbuf[numplanesbuf].supercontents = originalplanes[j].supercontents;
 266                 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
 267                 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
 268                 numplanesbuf++;
 269         }
 270
 271         // validate plane distances
 272         for (j = 0;j < numplanesbuf;j++)
 273         {
 274                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
 275                 if (fabs(planesbuf[j].dist - d) > (1.0f/32.0f))
 276                         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);
 277         }
 278
 279         // if nothing is left, there's nothing to allocate
 280         if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
 281         {
 282                 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);
 283                 return NULL;
 284         }
 285
 286         // allocate the brush and copy to it
 287         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
 288         brush->numplanes = numplanesbuf;
 289         brush->numpoints = numpointsbuf;
 290         brush->numtriangles = numelementsbuf / 3;
 291         brush->planes = (colplanef_t *)(brush + 1);
 292         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
 293         brush->elements = (int *)(brush->points + brush->numpoints);
 294         for (j = 0;j < brush->numpoints;j++)
 295         {
 296                 brush->points[j].v[0] = pointsbuf[j].v[0];
 297                 brush->points[j].v[1] = pointsbuf[j].v[1];
 298                 brush->points[j].v[2] = pointsbuf[j].v[2];
 299         }
 300         for (j = 0;j < brush->numplanes;j++)
 301         {
 302                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
 303                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
 304                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
 305                 brush->planes[j].dist = planesbuf[j].dist;
 306                 brush->planes[j].supercontents = planesbuf[j].supercontents;
 307                 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
 308                 brush->planes[j].texture = planesbuf[j].texture;
 309                 brush->supercontents |= brush->planes[j].supercontents;
 310         }
 311         for (j = 0;j < brush->numtriangles * 3;j++)
 312                 brush->elements[j] = elementsbuf[j];
 313         VectorCopy(brush->points[0].v, brush->mins);
 314         VectorCopy(brush->points[0].v, brush->maxs);
 315         for (j = 1;j < brush->numpoints;j++)
 316         {
 317                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
 318                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
 319                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
 320                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
 321                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
 322                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
 323         }
 324         brush->mins[0] -= 1;
 325         brush->mins[1] -= 1;
 326         brush->mins[2] -= 1;
 327         brush->maxs[0] += 1;
 328         brush->maxs[1] += 1;
 329         brush->maxs[2] += 1;
 330         Collision_ValidateBrush(brush);
 331         return brush;
 332 }
 333
 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 >= 100)
 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 >= 100)
 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...");
 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 = true, fendsolid = true, brushsolid, hitsupercontents = 0, hitq3surfaceflags = 0;
 522         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 523         const colplanef_t *startplane, *endplane;
 524         texture_t *hittexture = NULL;
 525
 526         VectorClear(newimpactnormal);
 527
 528         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 529         {
 530                 nplane2 = nplane;
 531                 if (nplane2 >= thatbrush_start->numplanes)
 532                 {
 533                         nplane2 -= thatbrush_start->numplanes;
 534                         startplane = thisbrush_start->planes + nplane2;
 535                         endplane = thisbrush_end->planes + nplane2;
 536                         if (developer.integer >= 100)
 537                         {
 538                                 // any brush with degenerate planes is not worth handling
 539                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 540                                 {
 541                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 542                                         return;
 543                                 }
 544                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 545                                 if (fabs(f - startplane->dist) > 0.125f)
 546                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 547                         }
 548                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
 549                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
 550                 }
 551                 else
 552                 {
 553                         startplane = thatbrush_start->planes + nplane2;
 554                         endplane = thatbrush_end->planes + nplane2;
 555                         if (developer.integer >= 100)
 556                         {
 557                                 // any brush with degenerate planes is not worth handling
 558                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 559                                 {
 560                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 561                                         return;
 562                                 }
 563                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 564                                 if (fabs(f - startplane->dist) > 0.125f)
 565                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 566                         }
 567                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
 568                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
 569                 }
 570                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 571
 572                 if(d1 > d2)
 573                 {
 574                         // moving into brush
 575                         if(d2 > 0)
 576                                 return;
 577                         if(d1 > 0)
 578                         {
 579                                 // enter
 580                                 fstartsolid = false;
 581                                 imove = 1 / (d1 - d2);
 582                                 f = (d1 - collision_enternudge.value) * imove;
 583                                 if (enterfrac < f)
 584                                 {
 585                                         enterfrac = f;
 586                                         enterfrac2 = f - collision_impactnudge.value * imove;
 587                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 588                                         hitsupercontents = startplane->supercontents;
 589                                         hitq3surfaceflags = startplane->q3surfaceflags;
 590                                         hittexture = startplane->texture;
 591                                 }
 592                         }
 593                 }
 594                 else
 595                 {
 596                         // moving out of brush
 597                         if(d1 > 0)
 598                                 return;
 599                         if(d2 > 0)
 600                         {
 601                                 // leave
 602                                 fendsolid = false;
 603                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 604                                 if (leavefrac > f)
 605                                         leavefrac = f;
 606                         }
 607                 }
 608         }
 609
 610         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 611         if (fstartsolid)
 612         {
 613                 trace->startsupercontents |= thatbrush_start->supercontents;
 614                 if (brushsolid)
 615                 {
 616                         trace->startsolid = true;
 617                         if (fendsolid)
 618                                 trace->allsolid = true;
 619                 }
 620         }
 621
 622         // LordHavoc: we need an epsilon nudge here because for a point trace the
 623         // penetrating line segment is normally zero length if this brush was
 624         // generated from a polygon (infinitely thin), and could even be slightly
 625         // positive or negative due to rounding errors in that case.
 626         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 627         {
 628 #if 0
 629                 // broken
 630                 if (thatbrush_start->ispolygon)
 631                 {
 632                         d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 633                         d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 634                         move = d1 - d2;
 635                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 636                                 return;
 637                         // enter
 638                         imove = 1 / move;
 639                         enterfrac = (d1 - collision_enternudge.value) * imove;
 640                         if (enterfrac < trace->realfraction)
 641                         {
 642                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 643                                 trace->hitsupercontents = thatbrush_start->planes[0].supercontents;
 644                                 trace->hitq3surfaceflags = thatbrush_start->planes[0].q3surfaceflags;
 645                                 trace->hittexture = thatbrush_start->planes[0].texture;
 646                                 trace->realfraction = bound(0, enterfrac, 1);
 647                                 trace->fraction = bound(0, enterfrac2, 1);
 648                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 649                         }
 650                 }
 651                 else
 652 #endif
 653                 {
 654                         trace->hitsupercontents = hitsupercontents;
 655                         trace->hitq3surfaceflags = hitq3surfaceflags;
 656                         trace->hittexture = hittexture;
 657                         trace->realfraction = bound(0, enterfrac, 1);
 658                         trace->fraction = bound(0, enterfrac2, 1);
 659                         VectorCopy(newimpactnormal, trace->plane.normal);
 660                 }
 661         }
 662 }
 663
 664 // NOTE: start and end brush pair must have same numplanes/numpoints
 665 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 666 {
 667         int nplane, fstartsolid = true, fendsolid = true, brushsolid, hitsupercontents = 0, hitq3surfaceflags = 0;
 668         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 669         const colplanef_t *startplane, *endplane;
 670         texture_t *hittexture = NULL;
 671
 672         VectorClear(newimpactnormal);
 673
 674         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 675         {
 676                 startplane = thatbrush_start->planes + nplane;
 677                 endplane = thatbrush_end->planes + nplane;
 678                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
 679                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
 680                 if (developer.integer >= 100)
 681                 {
 682                         // any brush with degenerate planes is not worth handling
 683                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 684                         {
 685                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
 686                                 return;
 687                         }
 688                         if (thatbrush_start->numpoints)
 689                         {
 690                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 691                                 if (fabs(f - startplane->dist) > 0.125f)
 692                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 693                         }
 694                 }
 695
 696                 if (d1 > d2)
 697                 {
 698                         // moving into brush
 699                         if (d2 > 0)
 700                                 return;
 701                         if (d1 > 0)
 702                         {
 703                                 // enter
 704                                 fstartsolid = false;
 705                                 imove = 1 / (d1 - d2);
 706                                 f = (d1 - collision_enternudge.value) * imove;
 707                                 if (enterfrac < f)
 708                                 {
 709                                         enterfrac = f;
 710                                         enterfrac2 = f - collision_impactnudge.value * imove;
 711                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 712                                         hitsupercontents = startplane->supercontents;
 713                                         hitq3surfaceflags = startplane->q3surfaceflags;
 714                                         hittexture = startplane->texture;
 715                                 }
 716                         }
 717                 }
 718                 else
 719                 {
 720                         // moving out of brush
 721                         if (d1 > 0)
 722                                 return;
 723                         if (d2 > 0)
 724                         {
 725                                 // leave
 726                                 fendsolid = false;
 727                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 728                                 if (leavefrac > f)
 729                                         leavefrac = f;
 730                         }
 731                 }
 732         }
 733
 734         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 735         if (fstartsolid)
 736         {
 737                 trace->startsupercontents |= thatbrush_start->supercontents;
 738                 if (brushsolid)
 739                 {
 740                         trace->startsolid = true;
 741                         if (fendsolid)
 742                                 trace->allsolid = true;
 743                 }
 744         }
 745
 746         // LordHavoc: we need an epsilon nudge here because for a point trace the
 747         // penetrating line segment is normally zero length if this brush was
 748         // generated from a polygon (infinitely thin), and could even be slightly
 749         // positive or negative due to rounding errors in that case.
 750         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac <= leavefrac)
 751         {
 752 #if 0
 753                 // broken
 754                 if (thatbrush_start->ispolygon)
 755                 {
 756                         d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 757                         d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 758                         move = d1 - d2;
 759                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 760                                 return;
 761                         // enter
 762                         imove = 1 / move;
 763                         enterfrac = (d1 - collision_enternudge.value) * imove;
 764                         if (enterfrac < trace->realfraction)
 765                         {
 766                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 767                                 trace->hitsupercontents = hitsupercontents;
 768                                 trace->hitq3surfaceflags = hitq3surfaceflags;
 769                                 trace->hittexture = hittexture;
 770                                 trace->realfraction = bound(0, enterfrac, 1);
 771                                 trace->fraction = bound(0, enterfrac2, 1);
 772                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 773                         }
 774                 }
 775                 else
 776 #endif
 777                 {
 778                         trace->hitsupercontents = hitsupercontents;
 779                         trace->hitq3surfaceflags = hitq3surfaceflags;
 780                         trace->hittexture = hittexture;
 781                         trace->realfraction = bound(0, enterfrac, 1);
 782                         trace->fraction = bound(0, enterfrac2, 1);
 783                         VectorCopy(newimpactnormal, trace->plane.normal);
 784                 }
 785         }
 786 }
 787
 788 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 789 {
 790         int nplane;
 791         const colplanef_t *plane;
 792
 793         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
 794                 if (DotProduct(plane->normal, point) > plane->dist)
 795                         return;
 796
 797         trace->startsupercontents |= thatbrush->supercontents;
 798         if (trace->hitsupercontentsmask & thatbrush->supercontents)
 799         {
 800                 trace->startsolid = true;
 801                 trace->allsolid = true;
 802         }
 803 }
 804
 805 static colpointf_t polyf_points[256];
 806 static colplanef_t polyf_planes[256 + 2];
 807 static colbrushf_t polyf_brush;
 808
 809 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 810 {
 811         while (numpoints--)
 812         {
 813                 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
 814                 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
 815                 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
 816         }
 817 }
 818
 819 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 820 {
 821         if (numpoints > 256)
 822         {
 823                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 824                 return;
 825         }
 826         polyf_brush.numpoints = numpoints;
 827         polyf_brush.numplanes = numpoints + 2;
 828         //polyf_brush.points = (colpointf_t *)points;
 829         polyf_brush.planes = polyf_planes;
 830         polyf_brush.supercontents = supercontents;
 831         polyf_brush.points = polyf_points;
 832         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 833         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 834         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 835         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 836 }
 837
 838 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, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 839 {
 840         int i;
 841         float facemins[3], facemaxs[3];
 842         polyf_brush.numpoints = 3;
 843         polyf_brush.numplanes = 5;
 844         polyf_brush.points = polyf_points;
 845         polyf_brush.planes = polyf_planes;
 846         polyf_brush.supercontents = supercontents;
 847         for (i = 0;i < polyf_brush.numplanes;i++)
 848         {
 849                 polyf_brush.planes[i].supercontents = supercontents;
 850                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 851                 polyf_brush.planes[i].texture = texture;
 852         }
 853         for (i = 0;i < numtriangles;i++, element3i += 3)
 854         {
 855                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 856                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 857                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 858                 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 859                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 860                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 861                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 862                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 863                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 864                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 865                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 866                 {
 867                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 868                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 869                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 870                 }
 871         }
 872 }
 873
 874 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 875 {
 876         if (numpoints > 256)
 877         {
 878                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 879                 return;
 880         }
 881         polyf_brush.numpoints = numpoints;
 882         polyf_brush.numplanes = numpoints + 2;
 883         //polyf_brush.points = (colpointf_t *)points;
 884         polyf_brush.points = polyf_points;
 885         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 886         polyf_brush.planes = polyf_planes;
 887         polyf_brush.supercontents = supercontents;
 888         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 889         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 890         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 891 }
 892
 893 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 894 {
 895         int i;
 896 #if 1
 897         // FIXME: snap vertices?
 898         for (i = 0;i < numtriangles;i++, element3i += 3)
 899                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
 900 #else
 901         polyf_brush.numpoints = 3;
 902         polyf_brush.numplanes = 5;
 903         polyf_brush.points = polyf_points;
 904         polyf_brush.planes = polyf_planes;
 905         polyf_brush.supercontents = supercontents;
 906         for (i = 0;i < polyf_brush.numplanes;i++)
 907         {
 908                 polyf_brush.planes[i].supercontents = supercontents;
 909                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 910                 polyf_brush.planes[i].texture = texture;
 911         }
 912         for (i = 0;i < numtriangles;i++, element3i += 3)
 913         {
 914                 float facemins[3], facemaxs[3];
 915                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 916                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 917                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 918                 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 919                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 920                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 921                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 922                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 923                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 924                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 925                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 926                 {
 927                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 928                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 929                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 930                 }
 931         }
 932 #endif
 933 }
 934
 935
 936 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 937 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 938 static colbrushf_t polyf_brushstart, polyf_brushend;
 939
 940 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, int q3surfaceflags, texture_t *texture)
 941 {
 942         int i;
 943         if (numpoints > 256)
 944         {
 945                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 946                 return;
 947         }
 948         polyf_brushstart.numpoints = numpoints;
 949         polyf_brushstart.numplanes = numpoints + 2;
 950         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 951         polyf_brushstart.planes = polyf_planesstart;
 952         polyf_brushstart.supercontents = supercontents;
 953         for (i = 0;i < numpoints;i++)
 954                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 955         polyf_brushend.numpoints = numpoints;
 956         polyf_brushend.numplanes = numpoints + 2;
 957         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 958         polyf_brushend.planes = polyf_planesend;
 959         polyf_brushend.supercontents = supercontents;
 960         for (i = 0;i < numpoints;i++)
 961                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 962         for (i = 0;i < polyf_brushstart.numplanes;i++)
 963         {
 964                 polyf_brushstart.planes[i].supercontents = supercontents;
 965                 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
 966                 polyf_brushstart.planes[i].texture = texture;
 967         }
 968         Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
 969         Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
 970         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 971         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 972
 973         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
 974         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 975
 976         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 977 }
 978
 979
 980
 981 #define MAX_BRUSHFORBOX 16
 982 static int brushforbox_index = 0;
 983 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
 984 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
 985 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
 986 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
 987
 988 void Collision_InitBrushForBox(void)
 989 {
 990         int i;
 991         for (i = 0;i < MAX_BRUSHFORBOX;i++)
 992         {
 993                 brushforbox_brush[i].numpoints = 8;
 994                 brushforbox_brush[i].numplanes = 6;
 995                 brushforbox_brush[i].points = brushforbox_point + i * 8;
 996                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
 997                 brushforpoint_brush[i].numpoints = 1;
 998                 brushforpoint_brush[i].numplanes = 0;
 999                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1000                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1001         }
1002 }
1003
1004 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1005 {
1006         int i, j;
1007         vec3_t v;
1008         colbrushf_t *brush;
1009         if (brushforbox_brush[0].numpoints == 0)
1010                 Collision_InitBrushForBox();
1011         // FIXME: these probably don't actually need to be normalized if the collision code does not care
1012         if (VectorCompare(mins, maxs))
1013         {
1014                 // point brush
1015                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1016                 VectorCopy(mins, brush->points->v);
1017         }
1018         else
1019         {
1020                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1021                 // FIXME: optimize
1022                 for (i = 0;i < 8;i++)
1023                 {
1024                         v[0] = i & 1 ? maxs[0] : mins[0];
1025                         v[1] = i & 2 ? maxs[1] : mins[1];
1026                         v[2] = i & 4 ? maxs[2] : mins[2];
1027                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1028                 }
1029                 // FIXME: optimize!
1030                 for (i = 0;i < 6;i++)
1031                 {
1032                         VectorClear(v);
1033                         v[i >> 1] = i & 1 ? 1 : -1;
1034                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1035                         VectorNormalize(brush->planes[i].normal);
1036                 }
1037         }
1038         brush->supercontents = supercontents;
1039         for (j = 0;j < brush->numplanes;j++)
1040         {
1041                 brush->planes[j].supercontents = supercontents;
1042                 brush->planes[j].q3surfaceflags = q3surfaceflags;
1043                 brush->planes[j].texture = texture;
1044                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1045         }
1046         VectorCopy(brush->points[0].v, brush->mins);
1047         VectorCopy(brush->points[0].v, brush->maxs);
1048         for (j = 1;j < brush->numpoints;j++)
1049         {
1050                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1051                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1052                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1053                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1054                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1055                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1056         }
1057         brush->mins[0] -= 1;
1058         brush->mins[1] -= 1;
1059         brush->mins[2] -= 1;
1060         brush->maxs[0] += 1;
1061         brush->maxs[1] += 1;
1062         brush->maxs[2] += 1;
1063         Collision_ValidateBrush(brush);
1064         return brush;
1065 }
1066
1067 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, int supercontents, int q3surfaceflags, texture_t *texture)
1068 {
1069         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1070         vec3_t startmins, startmaxs, endmins, endmaxs;
1071
1072         // create brushes for the collision
1073         VectorAdd(start, mins, startmins);
1074         VectorAdd(start, maxs, startmaxs);
1075         VectorAdd(end, mins, endmins);
1076         VectorAdd(end, maxs, endmaxs);
1077         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1078         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1079         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1080
1081         memset(trace, 0, sizeof(trace_t));
1082         trace->hitsupercontentsmask = hitsupercontentsmask;
1083         trace->fraction = 1;
1084         trace->realfraction = 1;
1085         trace->allsolid = true;
1086         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1087 }
1088
1089 //pseudocode for detecting line/sphere overlap without calculating an impact point
1090 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1091
1092 // LordHavoc: currently unused, but tested
1093 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1094 // by simply adding the moving sphere's radius to the sphereradius parameter,
1095 // all the results are correct (impactpoint, impactnormal, and fraction)
1096 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1097 {
1098         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1099         // make sure the impactpoint and impactnormal are valid even if there is
1100         // no collision
1101         VectorCopy(lineend, impactpoint);
1102         VectorClear(impactnormal);
1103         // calculate line direction
1104         VectorSubtract(lineend, linestart, dir);
1105         // normalize direction
1106         linelength = VectorLength(dir);
1107         if (linelength)
1108         {
1109                 scale = 1.0 / linelength;
1110                 VectorScale(dir, scale, dir);
1111         }
1112         // this dotproduct calculates the distance along the line at which the
1113         // sphere origin is (nearest point to the sphere origin on the line)
1114         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1115         // calculate point on line at that distance, and subtract the
1116         // sphereorigin from it, so we have a vector to measure for the distance
1117         // of the line from the sphereorigin (deviation, how off-center it is)
1118         VectorMA(linestart, impactdist, dir, v);
1119         VectorSubtract(v, sphereorigin, v);
1120         deviationdist = VectorLength2(v);
1121         // if outside the radius, it's a miss for sure
1122         // (we do this comparison using squared radius to avoid a sqrt)
1123         if (deviationdist > sphereradius*sphereradius)
1124                 return 1; // miss (off to the side)
1125         // nudge back to find the correct impact distance
1126         impactdist += deviationdist - sphereradius;
1127         if (impactdist >= linelength)
1128                 return 1; // miss (not close enough)
1129         if (impactdist < 0)
1130                 return 1; // miss (linestart is past or inside sphere)
1131         // calculate new impactpoint
1132         VectorMA(linestart, impactdist, dir, impactpoint);
1133         // calculate impactnormal (surface normal at point of impact)
1134         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1135         // normalize impactnormal
1136         VectorNormalize(impactnormal);
1137         // return fraction of movement distance
1138         return impactdist / linelength;
1139 }
1140
1141 void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2, int supercontents, int q3surfaceflags, texture_t *texture)
1142 {
1143 #if 1
1144         // more optimized
1145         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1146
1147         // this function executes:
1148         // 32 ops when line starts behind triangle
1149         // 38 ops when line ends infront of triangle
1150         // 43 ops when line fraction is already closer than this triangle
1151         // 72 ops when line is outside edge 01
1152         // 92 ops when line is outside edge 21
1153         // 115 ops when line is outside edge 02
1154         // 123 ops when line impacts triangle and updates trace results
1155
1156         // this code is designed for clockwise triangles, conversion to
1157         // counterclockwise would require swapping some things around...
1158         // it is easier to simply swap the point0 and point2 parameters to this
1159         // function when calling it than it is to rewire the internals.
1160
1161         // calculate the faceplanenormal of the triangle, this represents the front side
1162         // 15 ops
1163         VectorSubtract(point0, point1, edge01);
1164         VectorSubtract(point2, point1, edge21);
1165         CrossProduct(edge01, edge21, faceplanenormal);
1166         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1167         // 6 ops
1168         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1169         if (faceplanenormallength2 < 0.0001f)
1170                 return;
1171         // calculate the distance
1172         // 5 ops
1173         faceplanedist = DotProduct(point0, faceplanenormal);
1174
1175         // if start point is on the back side there is no collision
1176         // (we don't care about traces going through the triangle the wrong way)
1177
1178         // calculate the start distance
1179         // 6 ops
1180         d1 = DotProduct(faceplanenormal, linestart);
1181         if (d1 <= faceplanedist)
1182                 return;
1183
1184         // calculate the end distance
1185         // 6 ops
1186         d2 = DotProduct(faceplanenormal, lineend);
1187         // if both are in front, there is no collision
1188         if (d2 >= faceplanedist)
1189                 return;
1190
1191         // from here on we know d1 is >= 0 and d2 is < 0
1192         // this means the line starts infront and ends behind, passing through it
1193
1194         // calculate the recipricol of the distance delta,
1195         // so we can use it multiple times cheaply (instead of division)
1196         // 2 ops
1197         d = 1.0f / (d1 - d2);
1198         // calculate the impact fraction by taking the start distance (> 0)
1199         // and subtracting the face plane distance (this is the distance of the
1200         // triangle along that same normal)
1201         // then multiply by the recipricol distance delta
1202         // 2 ops
1203         f = (d1 - faceplanedist) * d;
1204         // skip out if this impact is further away than previous ones
1205         // 1 ops
1206         if (f > trace->realfraction)
1207                 return;
1208         // calculate the perfect impact point for classification of insidedness
1209         // 9 ops
1210         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1211         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1212         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1213
1214         // calculate the edge normal and reject if impact is outside triangle
1215         // (an edge normal faces away from the triangle, to get the desired normal
1216         //  a crossproduct with the faceplanenormal is used, and because of the way
1217         // the insidedness comparison is written it does not need to be normalized)
1218
1219         // first use the two edges from the triangle plane math
1220         // the other edge only gets calculated if the point survives that long
1221
1222         // 20 ops
1223         CrossProduct(edge01, faceplanenormal, edgenormal);
1224         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1225                 return;
1226
1227         // 20 ops
1228         CrossProduct(faceplanenormal, edge21, edgenormal);
1229         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1230                 return;
1231
1232         // 23 ops
1233         VectorSubtract(point0, point2, edge02);
1234         CrossProduct(faceplanenormal, edge02, edgenormal);
1235         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1236                 return;
1237
1238         // 8 ops (rare)
1239
1240         // store the new trace fraction
1241         trace->realfraction = f;
1242
1243         // calculate a nudged fraction to keep it out of the surface
1244         // (the main fraction remains perfect)
1245         trace->fraction = f - collision_impactnudge.value * d;
1246
1247         // store the new trace plane (because collisions only happen from
1248         // the front this is always simply the triangle normal, never flipped)
1249         d = 1.0 / sqrt(faceplanenormallength2);
1250         VectorScale(faceplanenormal, d, trace->plane.normal);
1251         trace->plane.dist = faceplanedist * d;
1252
1253         trace->hitsupercontents = supercontents;
1254         trace->hitq3surfaceflags = q3surfaceflags;
1255         trace->hittexture = texture;
1256 #else
1257         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1258
1259         // this code is designed for clockwise triangles, conversion to
1260         // counterclockwise would require swapping some things around...
1261         // it is easier to simply swap the point0 and point2 parameters to this
1262         // function when calling it than it is to rewire the internals.
1263
1264         // calculate the unnormalized faceplanenormal of the triangle,
1265         // this represents the front side
1266         TriangleNormal(point0, point1, point2, faceplanenormal);
1267         // there's no point in processing a degenerate triangle
1268         // (GIGO - Garbage In, Garbage Out)
1269         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1270                 return;
1271         // calculate the unnormalized distance
1272         faceplanedist = DotProduct(point0, faceplanenormal);
1273
1274         // calculate the unnormalized start distance
1275         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1276         // if start point is on the back side there is no collision
1277         // (we don't care about traces going through the triangle the wrong way)
1278         if (d1 <= 0)
1279                 return;
1280
1281         // calculate the unnormalized end distance
1282         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1283         // if both are in front, there is no collision
1284         if (d2 >= 0)
1285                 return;
1286
1287         // from here on we know d1 is >= 0 and d2 is < 0
1288         // this means the line starts infront and ends behind, passing through it
1289
1290         // calculate the recipricol of the distance delta,
1291         // so we can use it multiple times cheaply (instead of division)
1292         d = 1.0f / (d1 - d2);
1293         // calculate the impact fraction by taking the start distance (> 0)
1294         // and subtracting the face plane distance (this is the distance of the
1295         // triangle along that same normal)
1296         // then multiply by the recipricol distance delta
1297         f = d1 * d;
1298         // skip out if this impact is further away than previous ones
1299         if (f > trace->realfraction)
1300                 return;
1301         // calculate the perfect impact point for classification of insidedness
1302         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1303         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1304         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1305
1306         // calculate the edge normal and reject if impact is outside triangle
1307         // (an edge normal faces away from the triangle, to get the desired normal
1308         //  a crossproduct with the faceplanenormal is used, and because of the way
1309         // the insidedness comparison is written it does not need to be normalized)
1310
1311         VectorSubtract(point2, point0, edge);
1312         CrossProduct(edge, faceplanenormal, edgenormal);
1313         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1314                 return;
1315
1316         VectorSubtract(point0, point1, edge);
1317         CrossProduct(edge, faceplanenormal, edgenormal);
1318         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1319                 return;
1320
1321         VectorSubtract(point1, point2, edge);
1322         CrossProduct(edge, faceplanenormal, edgenormal);
1323         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1324                 return;
1325
1326         // store the new trace fraction
1327         trace->realfraction = bound(0, f, 1);
1328
1329         // store the new trace plane (because collisions only happen from
1330         // the front this is always simply the triangle normal, never flipped)
1331         VectorNormalize(faceplanenormal);
1332         VectorCopy(faceplanenormal, trace->plane.normal);
1333         trace->plane.dist = DotProduct(point0, faceplanenormal);
1334
1335         // calculate the normalized start and end distances
1336         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1337         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1338
1339         // calculate a nudged fraction to keep it out of the surface
1340         // (the main fraction remains perfect)
1341         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1342         trace->fraction = bound(0, fnudged, 1);
1343
1344         // store the new trace endpos
1345         // not needed, it's calculated later when the trace is finished
1346         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1347         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1348         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1349         trace->hitsupercontents = supercontents;
1350         trace->hitq3surfaceflags = q3surfaceflags;
1351         trace->hittexture = texture;
1352 #endif
1353 }
1354
1355 typedef struct colbspnode_s
1356 {
1357         mplane_t plane;
1358         struct colbspnode_s *children[2];
1359         // the node is reallocated or split if max is reached
1360         int numcolbrushf;
1361         int maxcolbrushf;
1362         colbrushf_t **colbrushflist;
1363         //int numcolbrushd;
1364         //int maxcolbrushd;
1365         //colbrushd_t **colbrushdlist;
1366 }
1367 colbspnode_t;
1368
1369 typedef struct colbsp_s
1370 {
1371         mempool_t *mempool;
1372         colbspnode_t *nodes;
1373 }
1374 colbsp_t;
1375
1376 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1377 {
1378         colbsp_t *bsp;
1379         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1380         bsp->mempool = mempool;
1381         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1382         return bsp;
1383 }
1384
1385 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1386 {
1387         if (node->children[0])
1388                 Collision_FreeCollisionBSPNode(node->children[0]);
1389         if (node->children[1])
1390                 Collision_FreeCollisionBSPNode(node->children[1]);
1391         while (--node->numcolbrushf)
1392                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1393         //while (--node->numcolbrushd)
1394         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1395         Mem_Free(node);
1396 }
1397
1398 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1399 {
1400         Collision_FreeCollisionBSPNode(bsp->nodes);
1401         Mem_Free(bsp);
1402 }
1403
1404 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1405 {
1406         int i;
1407         colpointf_t *ps, *pe;
1408         float tempstart[3], tempend[3];
1409         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1410         VectorCopy(mins, maxs);
1411         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1412         {
1413                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1414                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1415                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1416                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1417                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1418                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1419                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1420                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1421         }
1422         mins[0] -= 1;
1423         mins[1] -= 1;
1424         mins[2] -= 1;
1425         maxs[0] += 1;
1426         maxs[1] += 1;
1427         maxs[2] += 1;
1428 }
1429