added collision_prefernudgedfraction cvar (defaults to 1), which should improve colli...
[divverent/darkplaces.git] / collision.c
1
2 #include "quakedef.h"
3 #include "polygon.h"
4
5 #define COLLISION_SNAPSCALE (32.0f)
6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
7 #define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
8 #define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
9
10 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
11 cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
12 cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
13 cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
14 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
15 cvar_t collision_prefernudgedfraction = {0, "collision_prefernudgedfraction", "1", "whether to sort collision events by nudged fraction (1) or real fraction (0)"};
16
17 void Collision_Init (void)
18 {
19         Cvar_RegisterVariable(&collision_impactnudge);
20         Cvar_RegisterVariable(&collision_startnudge);
21         Cvar_RegisterVariable(&collision_endnudge);
22         Cvar_RegisterVariable(&collision_enternudge);
23         Cvar_RegisterVariable(&collision_leavenudge);
24         Cvar_RegisterVariable(&collision_prefernudgedfraction);
25 }
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
41 {
42         int i;
43         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
44         for (i = 0;i < brush->numpoints;i++)
45                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
46         // FIXME: optimize!
47         Con_Printf("4\n%i\n", brush->numplanes);
48         for (i = 0;i < brush->numplanes;i++)
49                 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);
50 }
51
52 void Collision_ValidateBrush(colbrushf_t *brush)
53 {
54         int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
55         float d;
56         printbrush = false;
57         if (!brush->numpoints)
58         {
59                 Con_Print("Collision_ValidateBrush: brush with no points!\n");
60                 printbrush = true;
61         }
62 #if 0
63         // it's ok for a brush to have one point and no planes...
64         if (brush->numplanes == 0 && brush->numpoints != 1)
65         {
66                 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
67                 printbrush = true;
68         }
69 #endif
70         if (brush->numplanes)
71         {
72                 pointsoffplanes = 0;
73                 pointswithinsufficientplanes = 0;
74                 for (k = 0;k < brush->numplanes;k++)
75                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
76                                 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);
77                 for (j = 0;j < brush->numpoints;j++)
78                 {
79                         pointonplanes = 0;
80                         for (k = 0;k < brush->numplanes;k++)
81                         {
82                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
83                                 if (d > COLLISION_PLANE_DIST_EPSILON)
84                                 {
85                                         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);
86                                         printbrush = true;
87                                 }
88                                 if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
89                                         pointsoffplanes++;
90                                 else
91                                         pointonplanes++;
92                         }
93                         if (pointonplanes < 3)
94                                 pointswithinsufficientplanes++;
95                 }
96                 if (pointswithinsufficientplanes)
97                 {
98                         Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
99                         printbrush = true;
100                 }
101                 if (pointsoffplanes == 0) // all points are on all planes
102                 {
103                         Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
104                         printbrush = true;
105                 }
106         }
107         if (printbrush)
108                 Collision_PrintBrushAsQHull(brush, "unnamed");
109 }
110
111 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
112 {
113         float dist, bestdist;
114         if (!numpoints)
115                 return 0;
116         bestdist = DotProduct(points->v, normal);
117         points++;
118         while(--numpoints)
119         {
120                 dist = DotProduct(points->v, normal);
121                 bestdist = min(bestdist, dist);
122                 points++;
123         }
124         return bestdist;
125 }
126
127 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
128 {
129         float dist, bestdist;
130         if (!numpoints)
131                 return 0;
132         bestdist = DotProduct(points->v, normal);
133         points++;
134         while(--numpoints)
135         {
136                 dist = DotProduct(points->v, normal);
137                 bestdist = max(bestdist, dist);
138                 points++;
139         }
140         return bestdist;
141 }
142
143
144 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
145 {
146         // TODO: planesbuf could be replaced by a remapping table
147         int j, k, m, w, xyzflags;
148         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
149         double maxdist;
150         colbrushf_t *brush;
151         colpointf_t pointsbuf[256];
152         colplanef_t planesbuf[256];
153         int elementsbuf[1024];
154         int polypointbuf[256];
155         int pmaxpoints = 64;
156         int pnumpoints;
157         double p[2][3*64];
158 #if 0
159         // enable these if debugging to avoid seeing garbage in unused data
160         memset(pointsbuf, 0, sizeof(pointsbuf));
161         memset(planesbuf, 0, sizeof(planesbuf));
162         memset(elementsbuf, 0, sizeof(elementsbuf));
163         memset(polypointbuf, 0, sizeof(polypointbuf));
164         memset(p, 0, sizeof(p));
165 #endif
166         // figure out how large a bounding box we need to properly compute this brush
167         maxdist = 0;
168         for (j = 0;j < numoriginalplanes;j++)
169                 maxdist = max(maxdist, fabs(originalplanes[j].dist));
170         // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
171         maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
172         // construct a collision brush (points, planes, and renderable mesh) from
173         // a set of planes, this also optimizes out any unnecessary planes (ones
174         // whose polygon is clipped away by the other planes)
175         for (j = 0;j < numoriginalplanes;j++)
176         {
177                 // add the plane uniquely (no duplicates)
178                 for (k = 0;k < numplanesbuf;k++)
179                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
180                                 break;
181                 // if the plane is a duplicate, skip it
182                 if (k < numplanesbuf)
183                         continue;
184                 // check if there are too many and skip the brush
185                 if (numplanesbuf >= maxplanesbuf)
186                 {
187                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
188                         return NULL;
189                 }
190
191                 // add the new plane
192                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
193                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
194                 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
195                 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
196                 numplanesbuf++;
197
198                 // create a large polygon from the plane
199                 w = 0;
200                 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
201                 pnumpoints = 4;
202                 // clip it by all other planes
203                 for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
204                 {
205                         // skip the plane this polygon
206                         // (nothing happens if it is processed, this is just an optimization)
207                         if (k != j)
208                         {
209                                 // we want to keep the inside of the brush plane so we flip
210                                 // the cutting plane
211                                 PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, COLLISION_PLANE_DIST_EPSILON, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL, NULL);
212                                 w = !w;
213                         }
214                 }
215
216                 // if nothing is left, skip it
217                 if (pnumpoints < 3)
218                 {
219                         //Con_DPrintf("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);
220                         continue;
221                 }
222
223                 for (k = 0;k < pnumpoints;k++)
224                 {
225                         int l, m;
226                         m = 0;
227                         for (l = 0;l < numoriginalplanes;l++)
228                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
229                                         m++;
230                         if (m < 3)
231                                 break;
232                 }
233                 if (k < pnumpoints)
234                 {
235                         Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
236                         //return NULL;
237                 }
238
239                 // check if there are too many polygon vertices for buffer
240                 if (pnumpoints > pmaxpoints)
241                 {
242                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
243                         return NULL;
244                 }
245
246                 // check if there are too many triangle elements for buffer
247                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
248                 {
249                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
250                         return NULL;
251                 }
252
253                 for (k = 0;k < pnumpoints;k++)
254                 {
255                         float v[3];
256                         // downgrade to float precision before comparing
257                         VectorCopy(&p[w][k*3], v);
258
259                         // check if there is already a matching point (no duplicates)
260                         for (m = 0;m < numpointsbuf;m++)
261                                 if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
262                                         break;
263
264                         // if there is no match, add a new one
265                         if (m == numpointsbuf)
266                         {
267                                 // check if there are too many and skip the brush
268                                 if (numpointsbuf >= maxpointsbuf)
269                                 {
270                                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
271                                         return NULL;
272                                 }
273                                 // add the new one
274                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
275                                 numpointsbuf++;
276                         }
277
278                         // store the index into a buffer
279                         polypointbuf[k] = m;
280                 }
281
282                 // add the triangles for the polygon
283                 // (this particular code makes a triangle fan)
284                 for (k = 0;k < pnumpoints - 2;k++)
285                 {
286                         elementsbuf[numelementsbuf++] = polypointbuf[0];
287                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
288                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
289                 }
290         }
291
292         // if nothing is left, there's nothing to allocate
293         if (numplanesbuf < 4)
294         {
295                 Con_DPrintf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
296                 return NULL;
297         }
298
299         // if no triangles or points could be constructed, then this routine failed but the brush is not discarded
300         if (numelementsbuf < 12 || numpointsbuf < 4)
301                 Con_DPrintf("Collision_NewBrushFromPlanes: unable to rebuild triangles/points for collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
302
303         // validate plane distances
304         for (j = 0;j < numplanesbuf;j++)
305         {
306                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
307                 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
308                         Con_DPrintf("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);
309         }
310
311         // allocate the brush and copy to it
312         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
313         brush->supercontents = supercontents;
314         brush->numplanes = numplanesbuf;
315         brush->numpoints = numpointsbuf;
316         brush->numtriangles = numelementsbuf / 3;
317         brush->planes = (colplanef_t *)(brush + 1);
318         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
319         brush->elements = (int *)(brush->points + brush->numpoints);
320         for (j = 0;j < brush->numpoints;j++)
321         {
322                 brush->points[j].v[0] = pointsbuf[j].v[0];
323                 brush->points[j].v[1] = pointsbuf[j].v[1];
324                 brush->points[j].v[2] = pointsbuf[j].v[2];
325         }
326         for (j = 0;j < brush->numplanes;j++)
327         {
328                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
329                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
330                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
331                 brush->planes[j].dist = planesbuf[j].dist;
332                 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
333                 brush->planes[j].texture = planesbuf[j].texture;
334         }
335         for (j = 0;j < brush->numtriangles * 3;j++)
336                 brush->elements[j] = elementsbuf[j];
337
338         xyzflags = 0;
339         VectorClear(brush->mins);
340         VectorClear(brush->maxs);
341         for (j = 0;j < min(6, numoriginalplanes);j++)
342         {
343                      if (originalplanes[j].normal[0] ==  1) {xyzflags |=  1;brush->maxs[0] =  originalplanes[j].dist;}
344                 else if (originalplanes[j].normal[0] == -1) {xyzflags |=  2;brush->mins[0] = -originalplanes[j].dist;}
345                 else if (originalplanes[j].normal[1] ==  1) {xyzflags |=  4;brush->maxs[1] =  originalplanes[j].dist;}
346                 else if (originalplanes[j].normal[1] == -1) {xyzflags |=  8;brush->mins[1] = -originalplanes[j].dist;}
347                 else if (originalplanes[j].normal[2] ==  1) {xyzflags |= 16;brush->maxs[2] =  originalplanes[j].dist;}
348                 else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
349         }
350         // if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
351         // (this case works for any brush with valid points, but sometimes brushes are not reconstructed properly and hence the points are not valid, so this is reserved as a fallback case)
352         if (xyzflags != 63)
353         {
354                 VectorCopy(brush->points[0].v, brush->mins);
355                 VectorCopy(brush->points[0].v, brush->maxs);
356                 for (j = 1;j < brush->numpoints;j++)
357                 {
358                         brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
359                         brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
360                         brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
361                         brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
362                         brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
363                         brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
364                 }
365         }
366         brush->mins[0] -= 1;
367         brush->mins[1] -= 1;
368         brush->mins[2] -= 1;
369         brush->maxs[0] += 1;
370         brush->maxs[1] += 1;
371         brush->maxs[2] += 1;
372         Collision_ValidateBrush(brush);
373         return brush;
374 }
375
376
377
378 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
379 {
380         int i;
381         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
382         colpointf_t *p, *p2;
383
384         // FIXME: these probably don't actually need to be normalized if the collision code does not care
385         if (brush->numpoints == 3)
386         {
387                 // optimized triangle case
388                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
389                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
390                 {
391                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
392                         brush->numplanes = 0;
393                         return;
394                 }
395                 else
396                 {
397                         brush->numplanes = 5;
398                         VectorNormalize(brush->planes[0].normal);
399                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
400                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
401                         brush->planes[1].dist = -brush->planes[0].dist;
402                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
403                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
404                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
405 #if 1
406                         {
407                                 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
408                                 int i, best;
409                                 float dist, bestdist;
410                                 bestdist = fabs(brush->planes[0].normal[0]);
411                                 best = 0;
412                                 for (i = 1;i < 3;i++)
413                                 {
414                                         dist = fabs(brush->planes[0].normal[i]);
415                                         if (bestdist < dist)
416                                         {
417                                                 bestdist = dist;
418                                                 best = i;
419                                         }
420                                 }
421                                 VectorClear(projectionnormal);
422                                 if (brush->planes[0].normal[best] < 0)
423                                         projectionnormal[best] = -1;
424                                 else
425                                         projectionnormal[best] = 1;
426                                 VectorCopy(edge0, projectionedge0);
427                                 VectorCopy(edge1, projectionedge1);
428                                 VectorCopy(edge2, projectionedge2);
429                                 projectionedge0[best] = 0;
430                                 projectionedge1[best] = 0;
431                                 projectionedge2[best] = 0;
432                                 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
433                                 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
434                                 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
435                         }
436 #else
437                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
438                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
439                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
440 #endif
441                         VectorNormalize(brush->planes[2].normal);
442                         VectorNormalize(brush->planes[3].normal);
443                         VectorNormalize(brush->planes[4].normal);
444                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
445                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
446                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
447
448                         if (developer.integer >= 100)
449                         {
450                                 // validation code
451 #if 0
452                                 float temp[3];
453
454                                 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
455                                 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
456                                 CrossProduct(edge0, edge1, normal);
457                                 VectorNormalize(normal);
458                                 VectorSubtract(normal, brush->planes[0].normal, temp);
459                                 if (VectorLength(temp) > 0.01f)
460                                         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]);
461                                 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)
462                                         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);
463 #if 0
464                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
465                                         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);
466                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
467                                         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);
468                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
469                                         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);
470                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
471                                         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]);
472                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
473                                         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]);
474                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
475                                         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]);
476 #endif
477 #endif
478                                 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)
479                                         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);
480                                 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)
481                                         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);
482                                 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)
483                                         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);
484                                 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)
485                                         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);
486                                 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)
487                                         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);
488                         }
489                 }
490         }
491         else
492         {
493                 // choose best surface normal for polygon's plane
494                 bestdist = 0;
495                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
496                 {
497                         VectorSubtract(p[-1].v, p[0].v, edge0);
498                         VectorSubtract(p[1].v, p[0].v, edge1);
499                         CrossProduct(edge0, edge1, normal);
500                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
501                         dist = DotProduct(normal, normal);
502                         if (i == 0 || bestdist < dist)
503                         {
504                                 bestdist = dist;
505                                 VectorCopy(normal, brush->planes->normal);
506                         }
507                 }
508                 if (bestdist < 0.0001f)
509                 {
510                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
511                         brush->numplanes = 0;
512                         return;
513                 }
514                 else
515                 {
516                         brush->numplanes = brush->numpoints + 2;
517                         VectorNormalize(brush->planes->normal);
518                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
519
520                         // negate plane to create other side
521                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
522                         brush->planes[1].dist = -brush->planes[0].dist;
523                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
524                         {
525                                 VectorSubtract(p->v, p2->v, edge0);
526                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
527                                 VectorNormalize(brush->planes[i + 2].normal);
528                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
529                         }
530                 }
531         }
532
533         if (developer.integer >= 100)
534         {
535                 // validity check - will be disabled later
536                 Collision_ValidateBrush(brush);
537                 for (i = 0;i < brush->numplanes;i++)
538                 {
539                         int j;
540                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
541                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
542                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
543                 }
544         }
545 }
546
547 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
548 {
549         colbrushf_t *brush;
550         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
551         brush->supercontents = supercontents;
552         brush->numpoints = numpoints;
553         brush->numplanes = numpoints + 2;
554         brush->planes = (colplanef_t *)(brush + 1);
555         brush->points = (colpointf_t *)points;
556         Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
557         return brush;
558 }
559
560 // NOTE: start and end of each brush pair must have same numplanes/numpoints
561 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)
562 {
563         int nplane, nplane2, hitq3surfaceflags = 0;
564         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
565         const colplanef_t *startplane, *endplane;
566         texture_t *hittexture = NULL;
567
568         VectorClear(newimpactnormal);
569
570         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
571         {
572                 nplane2 = nplane;
573                 if (nplane2 >= thatbrush_start->numplanes)
574                 {
575                         nplane2 -= thatbrush_start->numplanes;
576                         startplane = thisbrush_start->planes + nplane2;
577                         endplane = thisbrush_end->planes + nplane2;
578                         if (developer.integer >= 100)
579                         {
580                                 // any brush with degenerate planes is not worth handling
581                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
582                                 {
583                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
584                                         return;
585                                 }
586                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
587                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
588                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
589                         }
590                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
591                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
592                 }
593                 else
594                 {
595                         startplane = thatbrush_start->planes + nplane2;
596                         endplane = thatbrush_end->planes + nplane2;
597                         if (developer.integer >= 100)
598                         {
599                                 // any brush with degenerate planes is not worth handling
600                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
601                                 {
602                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
603                                         return;
604                                 }
605                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
606                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
607                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
608                         }
609                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
610                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
611                 }
612                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
613
614                 if (d1 > d2)
615                 {
616                         // moving into brush
617                         if (d2 > 0)
618                                 return;
619                         if (d1 > 0)
620                         {
621                                 // enter
622                                 imove = 1 / (d1 - d2);
623                                 f = (d1 - collision_enternudge.value) * imove;
624                                 // check if this will reduce the collision time range
625                                 if (enterfrac < f)
626                                 {
627                                         // reduced collision time range
628                                         enterfrac = f;
629                                         // if the collision time range is now empty, no collision
630                                         if (enterfrac > leavefrac)
631                                                 return;
632                                         // if the collision would be further away than the trace's
633                                         // existing collision data, we don't care about this
634                                         // collision
635                                         if (enterfrac > trace->realfraction)
636                                                 return;
637                                         // calculate the nudged fraction and impact normal we'll
638                                         // need if we accept this collision later
639                                         enterfrac2 = f - collision_impactnudge.value * imove;
640                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
641                                         hitq3surfaceflags = startplane->q3surfaceflags;
642                                         hittexture = startplane->texture;
643                                 }
644                         }
645                 }
646                 else
647                 {
648                         // moving out of brush
649                         if (d1 > 0)
650                                 return;
651                         if (d2 > 0)
652                         {
653                                 // leave
654                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
655                                 // check if this will reduce the collision time range
656                                 if (leavefrac > f)
657                                 {
658                                         // reduced collision time range
659                                         leavefrac = f;
660                                         // if the collision time range is now empty, no collision
661                                         if (enterfrac > leavefrac)
662                                                 return;
663                                 }
664                         }
665                 }
666         }
667
668         // at this point we know the trace overlaps the brush because it was not
669         // rejected at any point in the loop above
670
671         // see if this brush can block the trace or not according to contents
672         if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
673         {
674                 if (enterfrac == -1)
675                 {
676                         trace->startsupercontents |= thatbrush_start->supercontents;
677                         trace->startsolid = true;
678                         if (leavefrac < 1)
679                                 trace->allsolid = true;
680                 }
681                 // store out the impact information
682                 trace->hitsupercontents = thatbrush_start->supercontents;
683                 trace->hitq3surfaceflags = hitq3surfaceflags;
684                 trace->hittexture = hittexture;
685                 trace->realfraction = bound(0, enterfrac, 1);
686                 trace->fraction = bound(0, enterfrac2, 1);
687                 if (collision_prefernudgedfraction.integer)
688                         trace->realfraction = trace->fraction;
689                 VectorCopy(newimpactnormal, trace->plane.normal);
690         }
691         else
692         {
693                 // this brush can not block the trace, but it can update start contents
694                 if (enterfrac == -1)
695                         trace->startsupercontents |= thatbrush_start->supercontents;
696         }
697 }
698
699 // NOTE: start and end brush pair must have same numplanes/numpoints
700 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
701 {
702         int nplane, hitq3surfaceflags = 0;
703         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
704         const colplanef_t *startplane, *endplane;
705         texture_t *hittexture = NULL;
706
707         VectorClear(newimpactnormal);
708
709         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
710         {
711                 startplane = thatbrush_start->planes + nplane;
712                 endplane = thatbrush_end->planes + nplane;
713                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
714                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
715                 if (developer.integer >= 100)
716                 {
717                         // any brush with degenerate planes is not worth handling
718                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
719                         {
720                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
721                                 return;
722                         }
723                         if (thatbrush_start->numpoints)
724                         {
725                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
726                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
727                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
728                         }
729                 }
730
731                 if (d1 > d2)
732                 {
733                         // moving into brush
734                         if (d2 > 0)
735                                 return;
736                         if (d1 > 0)
737                         {
738                                 // enter
739                                 imove = 1 / (d1 - d2);
740                                 f = (d1 - collision_enternudge.value) * imove;
741                                 // check if this will reduce the collision time range
742                                 if (enterfrac < f)
743                                 {
744                                         // reduced collision time range
745                                         enterfrac = f;
746                                         // if the collision time range is now empty, no collision
747                                         if (enterfrac > leavefrac)
748                                                 return;
749                                         // if the collision would be further away than the trace's
750                                         // existing collision data, we don't care about this
751                                         // collision
752                                         if (enterfrac > trace->realfraction)
753                                                 return;
754                                         // calculate the nudged fraction and impact normal we'll
755                                         // need if we accept this collision later
756                                         enterfrac2 = f - collision_impactnudge.value * imove;
757                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
758                                         hitq3surfaceflags = startplane->q3surfaceflags;
759                                         hittexture = startplane->texture;
760                                 }
761                         }
762                 }
763                 else
764                 {
765                         // moving out of brush
766                         if (d1 > 0)
767                                 return;
768                         if (d2 > 0)
769                         {
770                                 // leave
771                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
772                                 // check if this will reduce the collision time range
773                                 if (leavefrac > f)
774                                 {
775                                         // reduced collision time range
776                                         leavefrac = f;
777                                         // if the collision time range is now empty, no collision
778                                         if (enterfrac > leavefrac)
779                                                 return;
780                                 }
781                         }
782                 }
783         }
784
785         // at this point we know the trace overlaps the brush because it was not
786         // rejected at any point in the loop above
787
788         // see if this brush can block the trace or not according to contents
789         if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
790         {
791                 if (enterfrac == -1)
792                 {
793                         trace->startsupercontents |= thatbrush_start->supercontents;
794                         trace->startsolid = true;
795                         if (leavefrac < 1)
796                                 trace->allsolid = true;
797                 }
798                 // store out the impact information
799                 trace->hitsupercontents = thatbrush_start->supercontents;
800                 trace->hitq3surfaceflags = hitq3surfaceflags;
801                 trace->hittexture = hittexture;
802                 trace->realfraction = bound(0, enterfrac, 1);
803                 trace->fraction = bound(0, enterfrac2, 1);
804                 if (collision_prefernudgedfraction.integer)
805                         trace->realfraction = trace->fraction;
806                 VectorCopy(newimpactnormal, trace->plane.normal);
807         }
808         else
809         {
810                 // this brush can not block the trace, but it can update start contents
811                 if (enterfrac == -1)
812                         trace->startsupercontents |= thatbrush_start->supercontents;
813         }
814 }
815
816 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
817 {
818         int nplane;
819         const colplanef_t *plane;
820
821         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
822                 if (DotProduct(plane->normal, point) > plane->dist)
823                         return;
824
825         trace->startsupercontents |= thatbrush->supercontents;
826         if (trace->hitsupercontentsmask & thatbrush->supercontents)
827         {
828                 trace->startsolid = true;
829                 trace->allsolid = true;
830         }
831 }
832
833 static colpointf_t polyf_points[256];
834 static colplanef_t polyf_planes[256 + 2];
835 static colbrushf_t polyf_brush;
836
837 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
838 {
839         while (numpoints--)
840         {
841                 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
842                 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
843                 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
844         }
845 }
846
847 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
848 {
849         if (numpoints > 256)
850         {
851                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
852                 return;
853         }
854         polyf_brush.numpoints = numpoints;
855         polyf_brush.numplanes = numpoints + 2;
856         //polyf_brush.points = (colpointf_t *)points;
857         polyf_brush.planes = polyf_planes;
858         polyf_brush.supercontents = supercontents;
859         polyf_brush.points = polyf_points;
860         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
861         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
862         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
863         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
864 }
865
866 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)
867 {
868         int i;
869         float facemins[3], facemaxs[3];
870         polyf_brush.numpoints = 3;
871         polyf_brush.numplanes = 5;
872         polyf_brush.points = polyf_points;
873         polyf_brush.planes = polyf_planes;
874         polyf_brush.supercontents = supercontents;
875         for (i = 0;i < polyf_brush.numplanes;i++)
876         {
877                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
878                 polyf_brush.planes[i].texture = texture;
879         }
880         for (i = 0;i < numtriangles;i++, element3i += 3)
881         {
882                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
883                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
884                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
885                 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
886                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
887                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
888                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
889                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
890                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
891                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
892                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
893                 {
894                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
895                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
896                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
897                 }
898         }
899 }
900
901 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
902 {
903         if (numpoints > 256)
904         {
905                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
906                 return;
907         }
908         polyf_brush.numpoints = numpoints;
909         polyf_brush.numplanes = numpoints + 2;
910         //polyf_brush.points = (colpointf_t *)points;
911         polyf_brush.points = polyf_points;
912         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
913         polyf_brush.planes = polyf_planes;
914         polyf_brush.supercontents = supercontents;
915         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
916         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
917         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
918 }
919
920 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)
921 {
922         int i;
923 #if 1
924         // FIXME: snap vertices?
925         for (i = 0;i < numtriangles;i++, element3i += 3)
926                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
927 #else
928         polyf_brush.numpoints = 3;
929         polyf_brush.numplanes = 5;
930         polyf_brush.points = polyf_points;
931         polyf_brush.planes = polyf_planes;
932         polyf_brush.supercontents = supercontents;
933         for (i = 0;i < polyf_brush.numplanes;i++)
934         {
935                 polyf_brush.planes[i].supercontents = supercontents;
936                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
937                 polyf_brush.planes[i].texture = texture;
938         }
939         for (i = 0;i < numtriangles;i++, element3i += 3)
940         {
941                 float facemins[3], facemaxs[3];
942                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
943                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
944                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
945                 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
946                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
947                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
948                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
949                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
950                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
951                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
952                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
953                 {
954                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
955                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
956                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
957                 }
958         }
959 #endif
960 }
961
962
963 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
964 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
965 static colbrushf_t polyf_brushstart, polyf_brushend;
966
967 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)
968 {
969         int i;
970         if (numpoints > 256)
971         {
972                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
973                 return;
974         }
975         polyf_brushstart.numpoints = numpoints;
976         polyf_brushstart.numplanes = numpoints + 2;
977         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
978         polyf_brushstart.planes = polyf_planesstart;
979         polyf_brushstart.supercontents = supercontents;
980         for (i = 0;i < numpoints;i++)
981                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
982         polyf_brushend.numpoints = numpoints;
983         polyf_brushend.numplanes = numpoints + 2;
984         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
985         polyf_brushend.planes = polyf_planesend;
986         polyf_brushend.supercontents = supercontents;
987         for (i = 0;i < numpoints;i++)
988                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
989         for (i = 0;i < polyf_brushstart.numplanes;i++)
990         {
991                 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
992                 polyf_brushstart.planes[i].texture = texture;
993         }
994         Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
995         Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
996         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
997         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
998
999         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1000         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1001
1002         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1003 }
1004
1005
1006
1007 #define MAX_BRUSHFORBOX 16
1008 static int brushforbox_index = 0;
1009 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1010 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1011 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1012 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1013
1014 void Collision_InitBrushForBox(void)
1015 {
1016         int i;
1017         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1018         {
1019                 brushforbox_brush[i].numpoints = 8;
1020                 brushforbox_brush[i].numplanes = 6;
1021                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1022                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1023                 brushforpoint_brush[i].numpoints = 1;
1024                 brushforpoint_brush[i].numplanes = 0;
1025                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1026                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1027         }
1028 }
1029
1030 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1031 {
1032         int i, j;
1033         vec3_t v;
1034         colbrushf_t *brush;
1035         if (brushforbox_brush[0].numpoints == 0)
1036                 Collision_InitBrushForBox();
1037         // FIXME: these probably don't actually need to be normalized if the collision code does not care
1038         if (VectorCompare(mins, maxs))
1039         {
1040                 // point brush
1041                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1042                 VectorCopy(mins, brush->points->v);
1043         }
1044         else
1045         {
1046                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1047                 // FIXME: optimize
1048                 for (i = 0;i < 8;i++)
1049                 {
1050                         v[0] = i & 1 ? maxs[0] : mins[0];
1051                         v[1] = i & 2 ? maxs[1] : mins[1];
1052                         v[2] = i & 4 ? maxs[2] : mins[2];
1053                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1054                 }
1055                 // FIXME: optimize!
1056                 for (i = 0;i < 6;i++)
1057                 {
1058                         VectorClear(v);
1059                         v[i >> 1] = i & 1 ? 1 : -1;
1060                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1061                         VectorNormalize(brush->planes[i].normal);
1062                 }
1063         }
1064         brush->supercontents = supercontents;
1065         for (j = 0;j < brush->numplanes;j++)
1066         {
1067                 brush->planes[j].q3surfaceflags = q3surfaceflags;
1068                 brush->planes[j].texture = texture;
1069                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1070         }
1071         VectorCopy(brush->points[0].v, brush->mins);
1072         VectorCopy(brush->points[0].v, brush->maxs);
1073         for (j = 1;j < brush->numpoints;j++)
1074         {
1075                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1076                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1077                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1078                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1079                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1080                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1081         }
1082         brush->mins[0] -= 1;
1083         brush->mins[1] -= 1;
1084         brush->mins[2] -= 1;
1085         brush->maxs[0] += 1;
1086         brush->maxs[1] += 1;
1087         brush->maxs[2] += 1;
1088         Collision_ValidateBrush(brush);
1089         return brush;
1090 }
1091
1092 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)
1093 {
1094         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1095         vec3_t startmins, startmaxs, endmins, endmaxs;
1096
1097         // create brushes for the collision
1098         VectorAdd(start, mins, startmins);
1099         VectorAdd(start, maxs, startmaxs);
1100         VectorAdd(end, mins, endmins);
1101         VectorAdd(end, maxs, endmaxs);
1102         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1103         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1104         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1105
1106         memset(trace, 0, sizeof(trace_t));
1107         trace->hitsupercontentsmask = hitsupercontentsmask;
1108         trace->fraction = 1;
1109         trace->realfraction = 1;
1110         trace->allsolid = true;
1111         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1112 }
1113
1114 //pseudocode for detecting line/sphere overlap without calculating an impact point
1115 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1116
1117 // LordHavoc: currently unused, but tested
1118 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1119 // by simply adding the moving sphere's radius to the sphereradius parameter,
1120 // all the results are correct (impactpoint, impactnormal, and fraction)
1121 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1122 {
1123         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1124         // make sure the impactpoint and impactnormal are valid even if there is
1125         // no collision
1126         VectorCopy(lineend, impactpoint);
1127         VectorClear(impactnormal);
1128         // calculate line direction
1129         VectorSubtract(lineend, linestart, dir);
1130         // normalize direction
1131         linelength = VectorLength(dir);
1132         if (linelength)
1133         {
1134                 scale = 1.0 / linelength;
1135                 VectorScale(dir, scale, dir);
1136         }
1137         // this dotproduct calculates the distance along the line at which the
1138         // sphere origin is (nearest point to the sphere origin on the line)
1139         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1140         // calculate point on line at that distance, and subtract the
1141         // sphereorigin from it, so we have a vector to measure for the distance
1142         // of the line from the sphereorigin (deviation, how off-center it is)
1143         VectorMA(linestart, impactdist, dir, v);
1144         VectorSubtract(v, sphereorigin, v);
1145         deviationdist = VectorLength2(v);
1146         // if outside the radius, it's a miss for sure
1147         // (we do this comparison using squared radius to avoid a sqrt)
1148         if (deviationdist > sphereradius*sphereradius)
1149                 return 1; // miss (off to the side)
1150         // nudge back to find the correct impact distance
1151         impactdist += deviationdist - sphereradius;
1152         if (impactdist >= linelength)
1153                 return 1; // miss (not close enough)
1154         if (impactdist < 0)
1155                 return 1; // miss (linestart is past or inside sphere)
1156         // calculate new impactpoint
1157         VectorMA(linestart, impactdist, dir, impactpoint);
1158         // calculate impactnormal (surface normal at point of impact)
1159         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1160         // normalize impactnormal
1161         VectorNormalize(impactnormal);
1162         // return fraction of movement distance
1163         return impactdist / linelength;
1164 }
1165
1166 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)
1167 {
1168 #if 1
1169         // more optimized
1170         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1171
1172         // this function executes:
1173         // 32 ops when line starts behind triangle
1174         // 38 ops when line ends infront of triangle
1175         // 43 ops when line fraction is already closer than this triangle
1176         // 72 ops when line is outside edge 01
1177         // 92 ops when line is outside edge 21
1178         // 115 ops when line is outside edge 02
1179         // 123 ops when line impacts triangle and updates trace results
1180
1181         // this code is designed for clockwise triangles, conversion to
1182         // counterclockwise would require swapping some things around...
1183         // it is easier to simply swap the point0 and point2 parameters to this
1184         // function when calling it than it is to rewire the internals.
1185
1186         // calculate the faceplanenormal of the triangle, this represents the front side
1187         // 15 ops
1188         VectorSubtract(point0, point1, edge01);
1189         VectorSubtract(point2, point1, edge21);
1190         CrossProduct(edge01, edge21, faceplanenormal);
1191         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1192         // 6 ops
1193         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1194         if (faceplanenormallength2 < 0.0001f)
1195                 return;
1196         // calculate the distance
1197         // 5 ops
1198         faceplanedist = DotProduct(point0, faceplanenormal);
1199
1200         // if start point is on the back side there is no collision
1201         // (we don't care about traces going through the triangle the wrong way)
1202
1203         // calculate the start distance
1204         // 6 ops
1205         d1 = DotProduct(faceplanenormal, linestart);
1206         if (d1 <= faceplanedist)
1207                 return;
1208
1209         // calculate the end distance
1210         // 6 ops
1211         d2 = DotProduct(faceplanenormal, lineend);
1212         // if both are in front, there is no collision
1213         if (d2 >= faceplanedist)
1214                 return;
1215
1216         // from here on we know d1 is >= 0 and d2 is < 0
1217         // this means the line starts infront and ends behind, passing through it
1218
1219         // calculate the recipricol of the distance delta,
1220         // so we can use it multiple times cheaply (instead of division)
1221         // 2 ops
1222         d = 1.0f / (d1 - d2);
1223         // calculate the impact fraction by taking the start distance (> 0)
1224         // and subtracting the face plane distance (this is the distance of the
1225         // triangle along that same normal)
1226         // then multiply by the recipricol distance delta
1227         // 2 ops
1228         f = (d1 - faceplanedist) * d;
1229         // skip out if this impact is further away than previous ones
1230         // 1 ops
1231         if (f > trace->realfraction)
1232                 return;
1233         // calculate the perfect impact point for classification of insidedness
1234         // 9 ops
1235         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1236         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1237         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1238
1239         // calculate the edge normal and reject if impact is outside triangle
1240         // (an edge normal faces away from the triangle, to get the desired normal
1241         //  a crossproduct with the faceplanenormal is used, and because of the way
1242         // the insidedness comparison is written it does not need to be normalized)
1243
1244         // first use the two edges from the triangle plane math
1245         // the other edge only gets calculated if the point survives that long
1246
1247         // 20 ops
1248         CrossProduct(edge01, faceplanenormal, edgenormal);
1249         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1250                 return;
1251
1252         // 20 ops
1253         CrossProduct(faceplanenormal, edge21, edgenormal);
1254         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1255                 return;
1256
1257         // 23 ops
1258         VectorSubtract(point0, point2, edge02);
1259         CrossProduct(faceplanenormal, edge02, edgenormal);
1260         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1261                 return;
1262
1263         // 8 ops (rare)
1264
1265         // store the new trace fraction
1266         trace->realfraction = f;
1267
1268         // calculate a nudged fraction to keep it out of the surface
1269         // (the main fraction remains perfect)
1270         trace->fraction = f - collision_impactnudge.value * d;
1271
1272         if (collision_prefernudgedfraction.integer)
1273                 trace->realfraction = trace->fraction;
1274
1275         // store the new trace plane (because collisions only happen from
1276         // the front this is always simply the triangle normal, never flipped)
1277         d = 1.0 / sqrt(faceplanenormallength2);
1278         VectorScale(faceplanenormal, d, trace->plane.normal);
1279         trace->plane.dist = faceplanedist * d;
1280
1281         trace->hitsupercontents = supercontents;
1282         trace->hitq3surfaceflags = q3surfaceflags;
1283         trace->hittexture = texture;
1284 #else
1285         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1286
1287         // this code is designed for clockwise triangles, conversion to
1288         // counterclockwise would require swapping some things around...
1289         // it is easier to simply swap the point0 and point2 parameters to this
1290         // function when calling it than it is to rewire the internals.
1291
1292         // calculate the unnormalized faceplanenormal of the triangle,
1293         // this represents the front side
1294         TriangleNormal(point0, point1, point2, faceplanenormal);
1295         // there's no point in processing a degenerate triangle
1296         // (GIGO - Garbage In, Garbage Out)
1297         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1298                 return;
1299         // calculate the unnormalized distance
1300         faceplanedist = DotProduct(point0, faceplanenormal);
1301
1302         // calculate the unnormalized start distance
1303         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1304         // if start point is on the back side there is no collision
1305         // (we don't care about traces going through the triangle the wrong way)
1306         if (d1 <= 0)
1307                 return;
1308
1309         // calculate the unnormalized end distance
1310         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1311         // if both are in front, there is no collision
1312         if (d2 >= 0)
1313                 return;
1314
1315         // from here on we know d1 is >= 0 and d2 is < 0
1316         // this means the line starts infront and ends behind, passing through it
1317
1318         // calculate the recipricol of the distance delta,
1319         // so we can use it multiple times cheaply (instead of division)
1320         d = 1.0f / (d1 - d2);
1321         // calculate the impact fraction by taking the start distance (> 0)
1322         // and subtracting the face plane distance (this is the distance of the
1323         // triangle along that same normal)
1324         // then multiply by the recipricol distance delta
1325         f = d1 * d;
1326         // skip out if this impact is further away than previous ones
1327         if (f > trace->realfraction)
1328                 return;
1329         // calculate the perfect impact point for classification of insidedness
1330         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1331         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1332         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1333
1334         // calculate the edge normal and reject if impact is outside triangle
1335         // (an edge normal faces away from the triangle, to get the desired normal
1336         //  a crossproduct with the faceplanenormal is used, and because of the way
1337         // the insidedness comparison is written it does not need to be normalized)
1338
1339         VectorSubtract(point2, point0, edge);
1340         CrossProduct(edge, faceplanenormal, edgenormal);
1341         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1342                 return;
1343
1344         VectorSubtract(point0, point1, edge);
1345         CrossProduct(edge, faceplanenormal, edgenormal);
1346         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1347                 return;
1348
1349         VectorSubtract(point1, point2, edge);
1350         CrossProduct(edge, faceplanenormal, edgenormal);
1351         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1352                 return;
1353
1354         // store the new trace fraction
1355         trace->realfraction = bound(0, f, 1);
1356
1357         // store the new trace plane (because collisions only happen from
1358         // the front this is always simply the triangle normal, never flipped)
1359         VectorNormalize(faceplanenormal);
1360         VectorCopy(faceplanenormal, trace->plane.normal);
1361         trace->plane.dist = DotProduct(point0, faceplanenormal);
1362
1363         // calculate the normalized start and end distances
1364         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1365         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1366
1367         // calculate a nudged fraction to keep it out of the surface
1368         // (the main fraction remains perfect)
1369         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1370         trace->fraction = bound(0, fnudged, 1);
1371
1372         // store the new trace endpos
1373         // not needed, it's calculated later when the trace is finished
1374         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1375         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1376         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1377         trace->hitsupercontents = supercontents;
1378         trace->hitq3surfaceflags = q3surfaceflags;
1379         trace->hittexture = texture;
1380 #endif
1381 }
1382
1383 typedef struct colbspnode_s
1384 {
1385         mplane_t plane;
1386         struct colbspnode_s *children[2];
1387         // the node is reallocated or split if max is reached
1388         int numcolbrushf;
1389         int maxcolbrushf;
1390         colbrushf_t **colbrushflist;
1391         //int numcolbrushd;
1392         //int maxcolbrushd;
1393         //colbrushd_t **colbrushdlist;
1394 }
1395 colbspnode_t;
1396
1397 typedef struct colbsp_s
1398 {
1399         mempool_t *mempool;
1400         colbspnode_t *nodes;
1401 }
1402 colbsp_t;
1403
1404 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1405 {
1406         colbsp_t *bsp;
1407         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1408         bsp->mempool = mempool;
1409         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1410         return bsp;
1411 }
1412
1413 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1414 {
1415         if (node->children[0])
1416                 Collision_FreeCollisionBSPNode(node->children[0]);
1417         if (node->children[1])
1418                 Collision_FreeCollisionBSPNode(node->children[1]);
1419         while (--node->numcolbrushf)
1420                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1421         //while (--node->numcolbrushd)
1422         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1423         Mem_Free(node);
1424 }
1425
1426 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1427 {
1428         Collision_FreeCollisionBSPNode(bsp->nodes);
1429         Mem_Free(bsp);
1430 }
1431
1432 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1433 {
1434         int i;
1435         colpointf_t *ps, *pe;
1436         float tempstart[3], tempend[3];
1437         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1438         VectorCopy(mins, maxs);
1439         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1440         {
1441                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1442                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1443                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1444                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1445                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1446                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1447                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1448                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1449         }
1450         mins[0] -= 1;
1451         mins[1] -= 1;
1452         mins[2] -= 1;
1453         maxs[0] += 1;
1454         maxs[1] += 1;
1455         maxs[2] += 1;
1456 }
1457