change default snd_soundradius back to 1000, matching Quake
[divverent/darkplaces.git] / collision.c
index 4dc31a9..3c069ca 100644 (file)
@@ -2,14 +2,23 @@
 #include "quakedef.h"
 #include "polygon.h"
 
-#define COLLISION_SNAPSCALE (8.0f)
+#define COLLISION_EDGEDIR_DOT_EPSILON (0.999f)
+#define COLLISION_EDGECROSS_MINLENGTH2 (1.0f / 4194304.0f)
+#define COLLISION_SNAPSCALE (32.0f)
 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
-
-cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125"};
-cvar_t collision_startnudge = {0, "collision_startnudge", "0"};
-cvar_t collision_endnudge = {0, "collision_endnudge", "0"};
-cvar_t collision_enternudge = {0, "collision_enternudge", "0"};
-cvar_t collision_leavenudge = {0, "collision_leavenudge", "0"};
+#define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
+#define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
+
+cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
+cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
+cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
+cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
+cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
+cvar_t collision_prefernudgedfraction = {0, "collision_prefernudgedfraction", "1", "whether to sort collision events by nudged fraction (1) or real fraction (0)"};
+#ifdef COLLISION_STUPID_TRACE_ENDPOS_IN_SOLID_WORKAROUND
+cvar_t collision_endposnudge = {0, "collision_endposnudge", "0", "workaround to fix trace_endpos sometimes being returned where it would be inside solid by making that collision hit (recommended: values like 1)"};
+#endif
+cvar_t collision_debug_tracelineasbox = {0, "collision_debug_tracelineasbox", "0", "workaround for any bugs in Collision_TraceLineBrushFloat by using Collision_TraceBrushBrushFloat"};
 
 void Collision_Init (void)
 {
@@ -18,6 +27,11 @@ void Collision_Init (void)
        Cvar_RegisterVariable(&collision_endnudge);
        Cvar_RegisterVariable(&collision_enternudge);
        Cvar_RegisterVariable(&collision_leavenudge);
+       Cvar_RegisterVariable(&collision_prefernudgedfraction);
+#ifdef COLLISION_STUPID_TRACE_ENDPOS_IN_SOLID_WORKAROUND
+       Cvar_RegisterVariable(&collision_endposnudge);
+#endif
+       Cvar_RegisterVariable(&collision_debug_tracelineasbox);
 }
 
 
@@ -76,12 +90,12 @@ void Collision_ValidateBrush(colbrushf_t *brush)
                        for (k = 0;k < brush->numplanes;k++)
                        {
                                d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
-                               if (d > (1.0f / 8.0f))
+                               if (d > COLLISION_PLANE_DIST_EPSILON)
                                {
                                        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);
                                        printbrush = true;
                                }
-                               if (fabs(d) > 0.125f)
+                               if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
                                        pointsoffplanes++;
                                else
                                        pointonplanes++;
@@ -107,6 +121,8 @@ void Collision_ValidateBrush(colbrushf_t *brush)
 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 {
        float dist, bestdist;
+       if (!numpoints)
+               return 0;
        bestdist = DotProduct(points->v, normal);
        points++;
        while(--numpoints)
@@ -121,6 +137,8 @@ float nearestplanedist_float(const float *normal, const colpointf_t *points, int
 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 {
        float dist, bestdist;
+       if (!numpoints)
+               return 0;
        bestdist = DotProduct(points->v, normal);
        points++;
        while(--numpoints)
@@ -132,13 +150,23 @@ float furthestplanedist_float(const float *normal, const colpointf_t *points, in
        return bestdist;
 }
 
+void Collision_CalcEdgeDirsForPolygonBrushFloat(colbrushf_t *brush)
+{
+       int i, j;
+       for (i = 0, j = brush->numpoints - 1;i < brush->numpoints;j = i, i++)
+               VectorSubtract(brush->points[i].v, brush->points[j].v, brush->edgedirs[j].v);
+}
 
-colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents)
+colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents, int q3surfaceflags, const texture_t *texture, int hasaabbplanes)
 {
-       int j, k, m, w;
-       int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
+       // TODO: planesbuf could be replaced by a remapping table
+       int j, k, l, m, w, xyzflags;
+       int numpointsbuf = 0, maxpointsbuf = 256, numedgedirsbuf = 0, maxedgedirsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
+       int isaabb = true;
+       double maxdist;
        colbrushf_t *brush;
        colpointf_t pointsbuf[256];
+       colpointf_t edgedirsbuf[256];
        colplanef_t planesbuf[256];
        int elementsbuf[1024];
        int polypointbuf[256];
@@ -146,51 +174,62 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
        int pnumpoints;
        double p[2][3*64];
 #if 0
-       // enable these if debugging to avoid seeing garbage in unused data
+       // enable these if debugging to avoid seeing garbage in unused data-
        memset(pointsbuf, 0, sizeof(pointsbuf));
+       memset(edgedirsbuf, 0, sizeof(edgedirsbuf));
        memset(planesbuf, 0, sizeof(planesbuf));
        memset(elementsbuf, 0, sizeof(elementsbuf));
        memset(polypointbuf, 0, sizeof(polypointbuf));
        memset(p, 0, sizeof(p));
 #endif
+
+       // check if there are too many planes and skip the brush
+       if (numoriginalplanes >= maxplanesbuf)
+       {
+               Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
+               return NULL;
+       }
+
+       // figure out how large a bounding box we need to properly compute this brush
+       maxdist = 0;
+       for (j = 0;j < numoriginalplanes;j++)
+               maxdist = max(maxdist, fabs(originalplanes[j].dist));
+       // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
+       maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
        // construct a collision brush (points, planes, and renderable mesh) from
        // a set of planes, this also optimizes out any unnecessary planes (ones
        // whose polygon is clipped away by the other planes)
        for (j = 0;j < numoriginalplanes;j++)
        {
-               // add the plane uniquely (no duplicates)
-               for (k = 0;k < numplanesbuf;k++)
-                       if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
-                               break;
-               // if the plane is a duplicate, skip it
-               if (k < numplanesbuf)
-                       continue;
-               // check if there are too many and skip the brush
-               if (numplanesbuf >= maxplanesbuf)
-               {
-                       Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
-                       return NULL;
-               }
+               // add the new plane
+               VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
+               planesbuf[numplanesbuf].dist = originalplanes[j].dist;
+               planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
+               planesbuf[numplanesbuf].texture = originalplanes[j].texture;
+               numplanesbuf++;
 
                // create a large polygon from the plane
                w = 0;
-               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);
+               PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
                pnumpoints = 4;
                // clip it by all other planes
-               for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
+               for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
                {
+                       // skip the plane this polygon
+                       // (nothing happens if it is processed, this is just an optimization)
                        if (k != j)
                        {
                                // we want to keep the inside of the brush plane so we flip
                                // the cutting plane
-                               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);
+                               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);
                                w = !w;
                        }
                }
+
                // if nothing is left, skip it
                if (pnumpoints < 3)
                {
-                       //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);
+                       //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);
                        continue;
                }
 
@@ -199,36 +238,41 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
                        int l, m;
                        m = 0;
                        for (l = 0;l < numoriginalplanes;l++)
-                               if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < 1.0/8.0)
+                               if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
                                        m++;
                        if (m < 3)
                                break;
                }
                if (k < pnumpoints)
                {
-                       Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
+                       Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
                        //return NULL;
                }
 
                // check if there are too many polygon vertices for buffer
                if (pnumpoints > pmaxpoints)
                {
-                       Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
+                       Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
                        return NULL;
                }
 
                // check if there are too many triangle elements for buffer
                if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
                {
-                       Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
+                       Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
                        return NULL;
                }
 
+               // add the unique points for this polygon
                for (k = 0;k < pnumpoints;k++)
                {
+                       float v[3];
+                       // downgrade to float precision before comparing
+                       VectorCopy(&p[w][k*3], v);
+
                        // check if there is already a matching point (no duplicates)
                        for (m = 0;m < numpointsbuf;m++)
-                               if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
+                               if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
                                        break;
 
                        // if there is no match, add a new one
@@ -237,7 +281,7 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
                                // check if there are too many and skip the brush
                                if (numpointsbuf >= maxpointsbuf)
                                {
-                                       Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
+                                       Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
                                        return NULL;
                                }
                                // add the new one
@@ -258,54 +302,133 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
                        elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
                }
 
-               // add the new plane
-               VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
-               planesbuf[numplanesbuf].dist = originalplanes[j].dist;
-               numplanesbuf++;
-       }
+               // add the unique edgedirs for this polygon
+               for (k = 0, l = pnumpoints-1;k < pnumpoints;l = k, k++)
+               {
+                       float dir[3];
+                       // downgrade to float precision before comparing
+                       VectorSubtract(&p[w][k*3], &p[w][l*3], dir);
+                       VectorNormalize(dir);
+
+                       // check if there is already a matching edgedir (no duplicates)
+                       for (m = 0;m < numedgedirsbuf;m++)
+                               if (DotProduct(dir, edgedirsbuf[m].v) >= COLLISION_EDGEDIR_DOT_EPSILON)
+                                       break;
+                       // skip this if there is
+                       if (m < numedgedirsbuf)
+                               continue;
+
+                       // try again with negated edgedir
+                       VectorNegate(dir, dir);
+                       // check if there is already a matching edgedir (no duplicates)
+                       for (m = 0;m < numedgedirsbuf;m++)
+                               if (DotProduct(dir, edgedirsbuf[m].v) >= COLLISION_EDGEDIR_DOT_EPSILON)
+                                       break;
+                       // if there is no match, add a new one
+                       if (m == numedgedirsbuf)
+                       {
+                               // check if there are too many and skip the brush
+                               if (numedgedirsbuf >= maxedgedirsbuf)
+                               {
+                                       Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many edgedirs for buffer\n");
+                                       return NULL;
+                               }
+                               // add the new one
+                               VectorCopy(dir, edgedirsbuf[numedgedirsbuf].v);
+                               numedgedirsbuf++;
+                       }
+               }
 
-       // validate plane distances
-       for (j = 0;j < numplanesbuf;j++)
-       {
-               float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
-               if (fabs(planesbuf[j].dist - d) > (1.0f/32.0f))
-                       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);
+               // if any normal is not purely axial, it's not an axis-aligned box
+               if (isaabb && (originalplanes[j].normal[0] == 0) + (originalplanes[j].normal[1] == 0) + (originalplanes[j].normal[2] == 0) < 2)
+                       isaabb = false;
        }
 
        // if nothing is left, there's nothing to allocate
-       if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
+       if (numplanesbuf < 4)
        {
-               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);
+               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);
                return NULL;
        }
 
+       // if no triangles or points could be constructed, then this routine failed but the brush is not discarded
+       if (numelementsbuf < 12 || numpointsbuf < 4)
+               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);
+
+       // validate plane distances
+       for (j = 0;j < numplanesbuf;j++)
+       {
+               float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
+               if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
+                       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);
+       }
+
        // allocate the brush and copy to it
-       brush = Collision_AllocBrushFloat(mempool, numpointsbuf, numplanesbuf, numelementsbuf / 3, supercontents);
+       brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colpointf_t) * numedgedirsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
+       brush->isaabb = isaabb;
+       brush->hasaabbplanes = hasaabbplanes;
+       brush->supercontents = supercontents;
+       brush->numplanes = numplanesbuf;
+       brush->numedgedirs = numedgedirsbuf;
+       brush->numpoints = numpointsbuf;
+       brush->numtriangles = numelementsbuf / 3;
+       brush->planes = (colplanef_t *)(brush + 1);
+       brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
+       brush->edgedirs = (colpointf_t *)(brush->points + brush->numpoints);
+       brush->elements = (int *)(brush->points + brush->numpoints);
+       brush->q3surfaceflags = q3surfaceflags;
+       brush->texture = texture;
        for (j = 0;j < brush->numpoints;j++)
        {
                brush->points[j].v[0] = pointsbuf[j].v[0];
                brush->points[j].v[1] = pointsbuf[j].v[1];
                brush->points[j].v[2] = pointsbuf[j].v[2];
        }
+       for (j = 0;j < brush->numedgedirs;j++)
+       {
+               brush->edgedirs[j].v[0] = edgedirsbuf[j].v[0];
+               brush->edgedirs[j].v[1] = edgedirsbuf[j].v[1];
+               brush->edgedirs[j].v[2] = edgedirsbuf[j].v[2];
+       }
        for (j = 0;j < brush->numplanes;j++)
        {
                brush->planes[j].normal[0] = planesbuf[j].normal[0];
                brush->planes[j].normal[1] = planesbuf[j].normal[1];
                brush->planes[j].normal[2] = planesbuf[j].normal[2];
                brush->planes[j].dist = planesbuf[j].dist;
+               brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
+               brush->planes[j].texture = planesbuf[j].texture;
        }
        for (j = 0;j < brush->numtriangles * 3;j++)
                brush->elements[j] = elementsbuf[j];
-       VectorCopy(brush->points[0].v, brush->mins);
-       VectorCopy(brush->points[0].v, brush->maxs);
-       for (j = 1;j < brush->numpoints;j++)
+
+       xyzflags = 0;
+       VectorClear(brush->mins);
+       VectorClear(brush->maxs);
+       for (j = 0;j < min(6, numoriginalplanes);j++)
        {
-               brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
-               brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
-               brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
-               brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
-               brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
-               brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
+                    if (originalplanes[j].normal[0] ==  1) {xyzflags |=  1;brush->maxs[0] =  originalplanes[j].dist;}
+               else if (originalplanes[j].normal[0] == -1) {xyzflags |=  2;brush->mins[0] = -originalplanes[j].dist;}
+               else if (originalplanes[j].normal[1] ==  1) {xyzflags |=  4;brush->maxs[1] =  originalplanes[j].dist;}
+               else if (originalplanes[j].normal[1] == -1) {xyzflags |=  8;brush->mins[1] = -originalplanes[j].dist;}
+               else if (originalplanes[j].normal[2] ==  1) {xyzflags |= 16;brush->maxs[2] =  originalplanes[j].dist;}
+               else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
+       }
+       // if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
+       // (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)
+       if (xyzflags != 63)
+       {
+               VectorCopy(brush->points[0].v, brush->mins);
+               VectorCopy(brush->points[0].v, brush->maxs);
+               for (j = 1;j < brush->numpoints;j++)
+               {
+                       brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
+                       brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
+                       brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
+                       brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
+                       brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
+                       brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
+               }
        }
        brush->mins[0] -= 1;
        brush->mins[1] -= 1;
@@ -319,20 +442,6 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
 
 
 
-colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
-{
-       colbrushf_t *brush;
-       brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
-       brush->supercontents = supercontents;
-       brush->numplanes = numplanes;
-       brush->numpoints = numpoints;
-       brush->numtriangles = numtriangles;
-       brush->planes = (void *)(brush + 1);
-       brush->points = (void *)(brush->planes + brush->numplanes);
-       brush->elements = (void *)(brush->points + brush->numpoints);
-       return brush;
-}
-
 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 {
        int i;
@@ -353,6 +462,7 @@ void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
                else
                {
                        brush->numplanes = 5;
+                       brush->numedgedirs = 3;
                        VectorNormalize(brush->planes[0].normal);
                        brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
                        VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
@@ -360,6 +470,9 @@ void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
                        VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
                        VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
                        VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
+                       VectorCopy(edge0, brush->edgedirs[0].v);
+                       VectorCopy(edge1, brush->edgedirs[1].v);
+                       VectorCopy(edge2, brush->edgedirs[2].v);
 #if 1
                        {
                                float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
@@ -403,7 +516,7 @@ void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
                        brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
                        brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 
-                       if (developer.integer)
+                       if (developer_extra.integer)
                        {
                                // validation code
 #if 0
@@ -415,34 +528,34 @@ void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
                                VectorNormalize(normal);
                                VectorSubtract(normal, brush->planes[0].normal, temp);
                                if (VectorLength(temp) > 0.01f)
-                                       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]);
+                                       Con_DPrintf("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]);
                                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)
-                                       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);
+                                       Con_DPrintf("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);
 #if 0
                                if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
-                                       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);
+                                       Con_DPrintf("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);
                                if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
-                                       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);
+                                       Con_DPrintf("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);
                                if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
-                                       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);
+                                       Con_DPrintf("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);
                                if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
-                                       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]);
+                                       Con_DPrintf("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]);
                                if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
-                                       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]);
+                                       Con_DPrintf("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]);
                                if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
-                                       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]);
+                                       Con_DPrintf("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]);
 #endif
 #endif
                                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)
-                                       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);
+                                       Con_DPrintf("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);
                                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)
-                                       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);
+                                       Con_DPrintf("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);
                                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)
-                                       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);
+                                       Con_DPrintf("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);
                                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)
-                                       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);
+                                       Con_DPrintf("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);
                                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)
-                                       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);
+                                       Con_DPrintf("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);
                        }
                }
        }
@@ -488,7 +601,7 @@ void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
                }
        }
 
-       if (developer.integer)
+       if (developer_extra.integer)
        {
                // validity check - will be disabled later
                Collision_ValidateBrush(brush);
@@ -496,291 +609,414 @@ void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
                {
                        int j;
                        for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
-                               if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
-                                       Con_Printf("Error in brush plane generation, plane %i\n", i);
+                               if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
+                                       Con_DPrintf("Error in brush plane generation, plane %i\n", i);
                }
        }
 }
 
-colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
+colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents, int q3surfaceflags, const texture_t *texture)
 {
        colbrushf_t *brush;
-       brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
+       brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2) + sizeof(colpointf_t) * numpoints);
+       brush->isaabb = false;
+       brush->hasaabbplanes = false;
        brush->supercontents = supercontents;
        brush->numpoints = numpoints;
+       brush->numedgedirs = numpoints;
        brush->numplanes = numpoints + 2;
-       brush->planes = (void *)(brush + 1);
+       brush->planes = (colplanef_t *)(brush + 1);
        brush->points = (colpointf_t *)points;
-       Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
+       brush->edgedirs = (colpointf_t *)(brush->planes + brush->numplanes);
+       brush->q3surfaceflags = q3surfaceflags;
+       brush->texture = texture;
+       Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
        return brush;
 }
 
 // NOTE: start and end of each brush pair must have same numplanes/numpoints
-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)
+void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *trace_start, const colbrushf_t *trace_end, const colbrushf_t *other_start, const colbrushf_t *other_end)
 {
-       int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
-       float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
-       const colplanef_t *startplane, *endplane;
-
-       enterfrac = -1;
-       enterfrac2 = -1;
-       leavefrac = 1;
-       fstartsolid = true;
-       fendsolid = true;
-
-       for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
+       int nplane, nplane2, nedge1, nedge2, hitq3surfaceflags = 0;
+       int tracenumedgedirs = trace_start->numedgedirs;
+       //int othernumedgedirs = other_start->numedgedirs;
+       int tracenumpoints = trace_start->numpoints;
+       int othernumpoints = other_start->numpoints;
+       int numplanes1 = other_start->numplanes;
+       int numplanes2 = numplanes1 + trace_start->numplanes;
+       int numplanes3 = numplanes2 + trace_start->numedgedirs * other_start->numedgedirs * 2;
+       vec_t enterfrac = -1, leavefrac = 1, startdist, enddist, ie, f, imove, enterfrac2 = -1;
+       vec4_t startplane;
+       vec4_t endplane;
+       vec4_t newimpactplane;
+       const texture_t *hittexture = NULL;
+       vec_t startdepth = 1;
+       vec3_t startdepthnormal;
+
+       VectorClear(startdepthnormal);
+       Vector4Clear(newimpactplane);
+
+       // fast case for AABB vs compiled brushes (which begin with AABB planes and also have precomputed bevels for AABB collisions)
+       if (trace_start->isaabb && other_start->hasaabbplanes)
+               numplanes3 = numplanes2 = numplanes1;
+
+       // Separating Axis Theorem:
+       // if a supporting vector (plane normal) can be found that separates two
+       // objects, they are not colliding.
+       //
+       // Minkowski Sum:
+       // reduce the size of one object to a point while enlarging the other to
+       // represent the space that point can not occupy.
+       //
+       // try every plane we can construct between the two brushes and measure
+       // the distance between them.
+       for (nplane = 0;nplane < numplanes3;nplane++)
        {
-               nplane2 = nplane;
-               if (nplane2 >= thatbrush_start->numplanes)
+               if (nplane < numplanes1)
                {
-                       nplane2 -= thatbrush_start->numplanes;
-                       startplane = thisbrush_start->planes + nplane2;
-                       endplane = thisbrush_end->planes + nplane2;
-                       if (developer.integer)
-                       {
-                               // any brush with degenerate planes is not worth handling
-                               if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
-                               {
-                                       Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
-                                       return;
-                               }
-                               f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
-                               if (fabs(f - startplane->dist) > 0.125f)
-                                       Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
-                       }
-                       d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
-                       d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
+                       nplane2 = nplane;
+                       VectorCopy(other_start->planes[nplane2].normal, startplane);
+                       VectorCopy(other_end->planes[nplane2].normal, endplane);
+               }
+               else if (nplane < numplanes2)
+               {
+                       nplane2 = nplane - numplanes1;
+                       VectorCopy(trace_start->planes[nplane2].normal, startplane);
+                       VectorCopy(trace_end->planes[nplane2].normal, endplane);
                }
                else
                {
-                       startplane = thatbrush_start->planes + nplane2;
-                       endplane = thatbrush_end->planes + nplane2;
-                       if (developer.integer)
+                       // pick an edgedir from each brush and cross them
+                       nplane2 = nplane - numplanes2;
+                       nedge1 = nplane2 >> 1;
+                       nedge2 = nedge1 / tracenumedgedirs;
+                       nedge1 -= nedge2 * tracenumedgedirs;
+                       if (nplane2 & 1)
                        {
-                               // any brush with degenerate planes is not worth handling
-                               if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
-                               {
-                                       Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
-                                       return;
-                               }
-                               f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
-                               if (fabs(f - startplane->dist) > 0.125f)
-                                       Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
+                               CrossProduct(trace_start->edgedirs[nedge1].v, other_start->edgedirs[nedge2].v, startplane);
+                               if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
+                                       continue; // degenerate crossproduct
+                               CrossProduct(trace_end->edgedirs[nedge1].v, other_end->edgedirs[nedge2].v, endplane);
+                               if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
+                                       continue; // degenerate crossproduct
                        }
-                       d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
-                       d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
+                       else
+                       {
+                               CrossProduct(other_start->edgedirs[nedge2].v, trace_start->edgedirs[nedge1].v, startplane);
+                               if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
+                                       continue; // degenerate crossproduct
+                               CrossProduct(other_end->edgedirs[nedge2].v, trace_end->edgedirs[nedge1].v, endplane);
+                               if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
+                                       continue; // degenerate crossproduct
+                       }
+                       VectorNormalize(startplane);
+                       VectorNormalize(endplane);
+               }
+               startplane[3] = furthestplanedist_float(startplane, other_start->points, othernumpoints);
+               endplane[3] = furthestplanedist_float(startplane, other_end->points, othernumpoints);
+               startdist = nearestplanedist_float(startplane, trace_start->points, tracenumpoints) - startplane[3] - collision_startnudge.value;
+               enddist = nearestplanedist_float(endplane, trace_end->points, tracenumpoints) - endplane[3] - collision_endnudge.value;
+               //Con_Printf("%c%i: startdist = %f, enddist = %f, startdist / (startdist - enddist) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, startdist, enddist, startdist / (startdist - enddist));
+
+               // aside from collisions, this is also used for error correction
+               if (startdist < collision_impactnudge.value && nplane < numplanes1 && (startdepth < startdist || startdepth == 1))
+               {
+                       startdepth = startdist;
+                       VectorCopy(startplane, startdepthnormal);
                }
-               //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 
-               if(d1 > d2)
+               if (startdist > enddist)
                {
                        // moving into brush
-                       if(d2 > 0)
+                       if (enddist >= collision_enternudge.value)
                                return;
-                       if(d1 > 0)
+                       if (startdist > 0)
                        {
                                // enter
-                               fstartsolid = false;
-                               imove = 1 / (d1 - d2);
-                               f = (d1 - collision_enternudge.value) * imove;
+                               imove = 1 / (startdist - enddist);
+                               f = (startdist - collision_enternudge.value) * imove;
+                               if (f < 0)
+                                       f = 0;
+                               // check if this will reduce the collision time range
                                if (enterfrac < f)
                                {
+                                       // reduced collision time range
                                        enterfrac = f;
-                                       enterfrac2 = f - collision_impactnudge.value * imove;
-                                       VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+                                       // if the collision time range is now empty, no collision
+                                       if (enterfrac > leavefrac)
+                                               return;
+                                       // if the collision would be further away than the trace's
+                                       // existing collision data, we don't care about this
+                                       // collision
+                                       if (enterfrac > trace->realfraction)
+                                               return;
+                                       // calculate the nudged fraction and impact normal we'll
+                                       // need if we accept this collision later
+                                       enterfrac2 = (startdist - collision_impactnudge.value) * imove;
+                                       ie = 1.0f - enterfrac;
+                                       newimpactplane[0] = startplane[0] * ie + endplane[0] * enterfrac;
+                                       newimpactplane[1] = startplane[1] * ie + endplane[1] * enterfrac;
+                                       newimpactplane[2] = startplane[2] * ie + endplane[2] * enterfrac;
+                                       newimpactplane[3] = startplane[3] * ie + endplane[3] * enterfrac;
+                                       if (nplane < numplanes1)
+                                       {
+                                               // use the plane from other
+                                               nplane2 = nplane;
+                                               hitq3surfaceflags = other_start->planes[nplane2].q3surfaceflags;
+                                               hittexture = other_start->planes[nplane2].texture;
+                                       }
+                                       else if (nplane < numplanes2)
+                                       {
+                                               // use the plane from trace
+                                               nplane2 = nplane - numplanes1;
+                                               hitq3surfaceflags = trace_start->planes[nplane2].q3surfaceflags;
+                                               hittexture = trace_start->planes[nplane2].texture;
+                                       }
+                                       else
+                                       {
+                                               hitq3surfaceflags = other_start->q3surfaceflags;
+                                               hittexture = other_start->texture;
+                                       }
                                }
                        }
                }
                else
                {
                        // moving out of brush
-                       if(d1 > 0)
+                       if (startdist > 0)
                                return;
-                       if(d2 > 0)
+                       if (enddist > 0)
                        {
                                // leave
-                               fendsolid = false;
-                               f = (d1 + collision_leavenudge.value) / (d1 - d2);
+                               f = (startdist + collision_leavenudge.value) / (startdist - enddist);
+                               if (f > 1)
+                                       f = 1;
+                               // check if this will reduce the collision time range
                                if (leavefrac > f)
+                               {
+                                       // reduced collision time range
                                        leavefrac = f;
+                                       // if the collision time range is now empty, no collision
+                                       if (enterfrac > leavefrac)
+                                               return;
+                               }
                        }
                }
        }
 
-       brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
-       if (fstartsolid)
+       // at this point we know the trace overlaps the brush because it was not
+       // rejected at any point in the loop above
+
+       // see if the trace started outside the brush or not
+       if (enterfrac > -1)
        {
-               trace->startsupercontents |= thatbrush_start->supercontents;
-               if (brushsolid)
+               // started outside, and overlaps, therefore there is a collision here
+               // store out the impact information
+               if (trace->hitsupercontentsmask & other_start->supercontents)
                {
-                       trace->startsolid = true;
-                       if (fendsolid)
-                               trace->allsolid = true;
+                       trace->hitsupercontents = other_start->supercontents;
+                       trace->hitq3surfaceflags = hitq3surfaceflags;
+                       trace->hittexture = hittexture;
+                       trace->realfraction = bound(0, enterfrac, 1);
+                       trace->fraction = bound(0, enterfrac2, 1);
+                       if (collision_prefernudgedfraction.integer)
+                               trace->realfraction = trace->fraction;
+                       VectorCopy(newimpactplane, trace->plane.normal);
+                       trace->plane.dist = newimpactplane[3];
                }
        }
-
-       // LordHavoc: we need an epsilon nudge here because for a point trace the
-       // penetrating line segment is normally zero length if this brush was
-       // generated from a polygon (infinitely thin), and could even be slightly
-       // positive or negative due to rounding errors in that case.
-       if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+       else
        {
-#if 0
-               // broken
-               if (thatbrush_start->ispolygon)
+               // started inside, update startsolid and friends
+               trace->startsupercontents |= other_start->supercontents;
+               if (trace->hitsupercontentsmask & other_start->supercontents)
                {
-                       d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
-                       d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
-                       move = d1 - d2;
-                       if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
-                               return;
-                       // enter
-                       imove = 1 / move;
-                       enterfrac = (d1 - collision_enternudge.value) * imove;
-                       if (enterfrac < trace->realfraction)
+                       trace->startsolid = true;
+                       if (leavefrac < 1)
+                               trace->allsolid = true;
+                       VectorCopy(newimpactplane, trace->plane.normal);
+                       trace->plane.dist = newimpactplane[3];
+                       if (trace->startdepth > startdepth)
                        {
-                               enterfrac2 = enterfrac - collision_impactnudge.value * imove;
-                               trace->realfraction = bound(0, enterfrac, 1);
-                               trace->fraction = bound(0, enterfrac2, 1);
-                               VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
+                               trace->startdepth = startdepth;
+                               VectorCopy(startdepthnormal, trace->startdepthnormal);
                        }
                }
-               else
-#endif
-               {
-                       trace->realfraction = bound(0, enterfrac, 1);
-                       trace->fraction = bound(0, enterfrac2, 1);
-                       VectorCopy(newimpactnormal, trace->plane.normal);
-               }
        }
 }
 
-// NOTE: start and end brush pair must have same numplanes/numpoints
-void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
+// NOTE: start and end of each brush pair must have same numplanes/numpoints
+void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *other_start, const colbrushf_t *other_end)
 {
-       int nplane, fstartsolid, fendsolid, brushsolid;
-       float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
-       const colplanef_t *startplane, *endplane;
-
-       enterfrac = -1;
-       enterfrac2 = -1;
-       leavefrac = 1;
-       fstartsolid = true;
-       fendsolid = true;
+       int nplane, hitq3surfaceflags = 0;
+       int numplanes = other_start->numplanes;
+       vec_t enterfrac = -1, leavefrac = 1, startdist, enddist, ie, f, imove, enterfrac2 = -1;
+       vec4_t startplane;
+       vec4_t endplane;
+       vec4_t newimpactplane;
+       const texture_t *hittexture = NULL;
+       vec_t startdepth = 1;
+       vec3_t startdepthnormal;
+
+       if (collision_debug_tracelineasbox.integer)
+       {
+               colboxbrushf_t thisbrush_start, thisbrush_end;
+               Collision_BrushForBox(&thisbrush_start, linestart, linestart, 0, 0, NULL);
+               Collision_BrushForBox(&thisbrush_end, lineend, lineend, 0, 0, NULL);
+               Collision_TraceBrushBrushFloat(trace, &thisbrush_start.brush, &thisbrush_end.brush, other_start, other_end);
+               return;
+       }
 
-       for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
+       VectorClear(startdepthnormal);
+       Vector4Clear(newimpactplane);
+
+       // Separating Axis Theorem:
+       // if a supporting vector (plane normal) can be found that separates two
+       // objects, they are not colliding.
+       //
+       // Minkowski Sum:
+       // reduce the size of one object to a point while enlarging the other to
+       // represent the space that point can not occupy.
+       //
+       // try every plane we can construct between the two brushes and measure
+       // the distance between them.
+       for (nplane = 0;nplane < numplanes;nplane++)
        {
-               startplane = thatbrush_start->planes + nplane;
-               endplane = thatbrush_end->planes + nplane;
-               d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
-               d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
-               if (developer.integer)
+               VectorCopy(other_start->planes[nplane].normal, startplane);
+               startplane[3] = other_start->planes[nplane].dist;
+               VectorCopy(other_end->planes[nplane].normal, endplane);
+               endplane[3] = other_end->planes[nplane].dist;
+               startdist = DotProduct(linestart, startplane) - startplane[3] - collision_startnudge.value;
+               enddist = DotProduct(lineend, endplane) - endplane[3] - collision_endnudge.value;
+               //Con_Printf("%c%i: startdist = %f, enddist = %f, startdist / (startdist - enddist) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, startdist, enddist, startdist / (startdist - enddist));
+
+               // aside from collisions, this is also used for error correction
+               if (startdist < collision_impactnudge.value && (startdepth < startdist || startdepth == 1))
                {
-                       // any brush with degenerate planes is not worth handling
-                       if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
-                       {
-                               Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
-                               return;
-                       }
-                       if (thatbrush_start->numpoints)
-                       {
-                               f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
-                               if (fabs(f - startplane->dist) > 0.125f)
-                                       Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
-                       }
+                       startdepth = startdist;
+                       VectorCopy(startplane, startdepthnormal);
                }
 
-               if (d1 > d2)
+               if (startdist > enddist)
                {
                        // moving into brush
-                       if (d2 > 0)
+                       if (enddist >= collision_enternudge.value)
                                return;
-                       if (d1 > 0)
+                       if (startdist > 0)
                        {
                                // enter
-                               fstartsolid = false;
-                               imove = 1 / (d1 - d2);
-                               f = (d1 - collision_enternudge.value) * imove;
+                               imove = 1 / (startdist - enddist);
+                               f = (startdist - collision_enternudge.value) * imove;
+                               if (f < 0)
+                                       f = 0;
+                               // check if this will reduce the collision time range
                                if (enterfrac < f)
                                {
+                                       // reduced collision time range
                                        enterfrac = f;
-                                       enterfrac2 = f - collision_impactnudge.value * imove;
-                                       VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+                                       // if the collision time range is now empty, no collision
+                                       if (enterfrac > leavefrac)
+                                               return;
+                                       // if the collision would be further away than the trace's
+                                       // existing collision data, we don't care about this
+                                       // collision
+                                       if (enterfrac > trace->realfraction)
+                                               return;
+                                       // calculate the nudged fraction and impact normal we'll
+                                       // need if we accept this collision later
+                                       enterfrac2 = (startdist - collision_impactnudge.value) * imove;
+                                       ie = 1.0f - enterfrac;
+                                       newimpactplane[0] = startplane[0] * ie + endplane[0] * enterfrac;
+                                       newimpactplane[1] = startplane[1] * ie + endplane[1] * enterfrac;
+                                       newimpactplane[2] = startplane[2] * ie + endplane[2] * enterfrac;
+                                       newimpactplane[3] = startplane[3] * ie + endplane[3] * enterfrac;
+                                       hitq3surfaceflags = other_start->planes[nplane].q3surfaceflags;
+                                       hittexture = other_start->planes[nplane].texture;
                                }
                        }
                }
                else
                {
                        // moving out of brush
-                       if (d1 > 0)
+                       if (startdist > 0)
                                return;
-                       if (d2 > 0)
+                       if (enddist > 0)
                        {
                                // leave
-                               fendsolid = false;
-                               f = (d1 + collision_leavenudge.value) / (d1 - d2);
+                               f = (startdist + collision_leavenudge.value) / (startdist - enddist);
+                               if (f > 1)
+                                       f = 1;
+                               // check if this will reduce the collision time range
                                if (leavefrac > f)
+                               {
+                                       // reduced collision time range
                                        leavefrac = f;
+                                       // if the collision time range is now empty, no collision
+                                       if (enterfrac > leavefrac)
+                                               return;
+                               }
                        }
                }
        }
 
-       brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
-       if (fstartsolid)
+       // at this point we know the trace overlaps the brush because it was not
+       // rejected at any point in the loop above
+
+       // see if the trace started outside the brush or not
+       if (enterfrac > -1)
        {
-               trace->startsupercontents |= thatbrush_start->supercontents;
-               if (brushsolid)
+               // started outside, and overlaps, therefore there is a collision here
+               // store out the impact information
+               if (trace->hitsupercontentsmask & other_start->supercontents)
                {
-                       trace->startsolid = true;
-                       if (fendsolid)
-                               trace->allsolid = true;
+                       trace->hitsupercontents = other_start->supercontents;
+                       trace->hitq3surfaceflags = hitq3surfaceflags;
+                       trace->hittexture = hittexture;
+                       trace->realfraction = bound(0, enterfrac, 1);
+                       trace->fraction = bound(0, enterfrac2, 1);
+                       if (collision_prefernudgedfraction.integer)
+                               trace->realfraction = trace->fraction;
+                       VectorCopy(newimpactplane, trace->plane.normal);
+                       trace->plane.dist = newimpactplane[3];
                }
        }
-
-       // LordHavoc: we need an epsilon nudge here because for a point trace the
-       // penetrating line segment is normally zero length if this brush was
-       // generated from a polygon (infinitely thin), and could even be slightly
-       // positive or negative due to rounding errors in that case.
-       if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+       else
        {
-#if 0
-               // broken
-               if (thatbrush_start->ispolygon)
+               // started inside, update startsolid and friends
+               trace->startsupercontents |= other_start->supercontents;
+               if (trace->hitsupercontentsmask & other_start->supercontents)
                {
-                       d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
-                       d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
-                       move = d1 - d2;
-                       if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
-                               return;
-                       // enter
-                       imove = 1 / move;
-                       enterfrac = (d1 - collision_enternudge.value) * imove;
-                       if (enterfrac < trace->realfraction)
+                       trace->startsolid = true;
+                       if (leavefrac < 1)
+                               trace->allsolid = true;
+                       VectorCopy(newimpactplane, trace->plane.normal);
+                       trace->plane.dist = newimpactplane[3];
+                       if (trace->startdepth > startdepth)
                        {
-                               enterfrac2 = enterfrac - collision_impactnudge.value * imove;
-                               trace->realfraction = bound(0, enterfrac, 1);
-                               trace->fraction = bound(0, enterfrac2, 1);
-                               VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
+                               trace->startdepth = startdepth;
+                               VectorCopy(startdepthnormal, trace->startdepthnormal);
                        }
                }
-               else
-#endif
-               {
-                       trace->realfraction = bound(0, enterfrac, 1);
-                       trace->fraction = bound(0, enterfrac2, 1);
-                       VectorCopy(newimpactnormal, trace->plane.normal);
-               }
        }
 }
 
-void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
+qboolean Collision_PointInsideBrushFloat(const vec3_t point, const colbrushf_t *brush)
 {
        int nplane;
        const colplanef_t *plane;
 
-       for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
+       if (!BoxesOverlap(point, point, brush->mins, brush->maxs))
+               return false;
+       for (nplane = 0, plane = brush->planes;nplane < brush->numplanes;nplane++, plane++)
                if (DotProduct(plane->normal, point) > plane->dist)
-                       return;
+                       return false;
+       return true;
+}
+
+void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
+{
+       if (!Collision_PointInsideBrushFloat(point, thatbrush))
+               return;
 
        trace->startsupercontents |= thatbrush->supercontents;
        if (trace->hitsupercontentsmask & thatbrush->supercontents)
@@ -790,250 +1026,224 @@ void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const co
        }
 }
 
-static colpointf_t polyf_points[256];
-static colplanef_t polyf_planes[256 + 2];
-static colbrushf_t polyf_brush;
-
 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 {
-       while (numpoints--)
+       int i;
+       for (i = 0;i < numpoints;i++)
        {
-               out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
-               out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
-               out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
+               out[i].v[0] = floor(in[i].v[0] * fractionprecision + 0.5f) * invfractionprecision;
+               out[i].v[1] = floor(in[i].v[1] * fractionprecision + 0.5f) * invfractionprecision;
+               out[i].v[2] = floor(in[i].v[2] * fractionprecision + 0.5f) * invfractionprecision;
        }
 }
 
-void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
+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 stride, float *bbox6f, int supercontents, int q3surfaceflags, const texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 {
-       if (numpoints > 256)
+       int i;
+       colpointf_t points[3];
+       colpointf_t edgedirs[3];
+       colplanef_t planes[5];
+       colbrushf_t brush;
+       memset(&brush, 0, sizeof(brush));
+       brush.isaabb = false;
+       brush.hasaabbplanes = false;
+       brush.numpoints = 3;
+       brush.numedgedirs = 3;
+       brush.numplanes = 5;
+       brush.points = points;
+       brush.edgedirs = edgedirs;
+       brush.planes = planes;
+       brush.supercontents = supercontents;
+       brush.q3surfaceflags = q3surfaceflags;
+       brush.texture = texture;
+       for (i = 0;i < brush.numplanes;i++)
        {
-               Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
-               return;
+               brush.planes[i].q3surfaceflags = q3surfaceflags;
+               brush.planes[i].texture = texture;
        }
-       polyf_brush.numpoints = numpoints;
-       polyf_brush.numplanes = numpoints + 2;
-       //polyf_brush.points = (colpointf_t *)points;
-       polyf_brush.planes = polyf_planes;
-       polyf_brush.supercontents = supercontents;
-       polyf_brush.points = polyf_points;
-       Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
-       Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
-       //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
-       Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
-}
-
-void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
-{
-       int i;
-       float facemins[3], facemaxs[3];
-       polyf_brush.numpoints = 3;
-       polyf_brush.numplanes = 5;
-       polyf_brush.points = polyf_points;
-       polyf_brush.planes = polyf_planes;
-       polyf_brush.supercontents = supercontents;
-       for (i = 0;i < numtriangles;i++, element3i += 3)
+       if(stride > 0)
        {
-               VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
-               VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
-               VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
-               Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
-               facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
-               facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
-               facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
-               facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
-               facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
-               facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
-               if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
+               int k, cnt, tri;
+               cnt = (numtriangles + stride - 1) / stride;
+               for(i = 0; i < cnt; ++i)
                {
-                       Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
-                       //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
-                       Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
+                       if(BoxesOverlap(bbox6f + i * 6, bbox6f + i * 6 + 3, segmentmins, segmentmaxs))
+                       {
+                               for(k = 0; k < stride; ++k)
+                               {
+                                       tri = i * stride + k;
+                                       if(tri >= numtriangles)
+                                               break;
+                                       VectorCopy(vertex3f + element3i[tri * 3 + 0] * 3, points[0].v);
+                                       VectorCopy(vertex3f + element3i[tri * 3 + 1] * 3, points[1].v);
+                                       VectorCopy(vertex3f + element3i[tri * 3 + 2] * 3, points[2].v);
+                                       Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+                                       Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+                                       Collision_CalcPlanesForPolygonBrushFloat(&brush);
+                                       //Collision_PrintBrushAsQHull(&brush, "brush");
+                                       Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
+                               }
+                       }
                }
        }
-}
-
-void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
-{
-       if (numpoints > 256)
+       else if(stride == 0)
        {
-               Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
-               return;
+               for (i = 0;i < numtriangles;i++, element3i += 3)
+               {
+                       if (TriangleOverlapsBox(vertex3f + element3i[0]*3, vertex3f + element3i[1]*3, vertex3f + element3i[2]*3, segmentmins, segmentmaxs))
+                       {
+                               VectorCopy(vertex3f + element3i[0] * 3, points[0].v);
+                               VectorCopy(vertex3f + element3i[1] * 3, points[1].v);
+                               VectorCopy(vertex3f + element3i[2] * 3, points[2].v);
+                               Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+                               Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+                               Collision_CalcPlanesForPolygonBrushFloat(&brush);
+                               //Collision_PrintBrushAsQHull(&brush, "brush");
+                               Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
+                       }
+               }
+       }
+       else
+       {
+               for (i = 0;i < numtriangles;i++, element3i += 3)
+               {
+                       VectorCopy(vertex3f + element3i[0] * 3, points[0].v);
+                       VectorCopy(vertex3f + element3i[1] * 3, points[1].v);
+                       VectorCopy(vertex3f + element3i[2] * 3, points[2].v);
+                       Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+                       Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+                       Collision_CalcPlanesForPolygonBrushFloat(&brush);
+                       //Collision_PrintBrushAsQHull(&brush, "brush");
+                       Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
+               }
        }
-       polyf_brush.numpoints = numpoints;
-       polyf_brush.numplanes = numpoints + 2;
-       //polyf_brush.points = (colpointf_t *)points;
-       polyf_brush.points = polyf_points;
-       Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
-       polyf_brush.planes = polyf_planes;
-       polyf_brush.supercontents = supercontents;
-       Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
-       //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
-       Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 }
 
-void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
+void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int stride, float *bbox6f, int supercontents, int q3surfaceflags, const texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 {
        int i;
-#if 1
        // FIXME: snap vertices?
-       for (i = 0;i < numtriangles;i++, element3i += 3)
-               Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3);
-#else
-       polyf_brush.numpoints = 3;
-       polyf_brush.numplanes = 5;
-       polyf_brush.points = polyf_points;
-       polyf_brush.planes = polyf_planes;
-       polyf_brush.supercontents = supercontents;
-       for (i = 0;i < numtriangles;i++, element3i += 3)
+       if(stride > 0)
        {
-               float facemins[3], facemaxs[3];
-               VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
-               VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
-               VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
-               Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
-               facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
-               facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
-               facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
-               facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
-               facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
-               facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
-               if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
+               int k, cnt, tri;
+               cnt = (numtriangles + stride - 1) / stride;
+               for(i = 0; i < cnt; ++i)
                {
-                       Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
-                       //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
-                       Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
+                       if(BoxesOverlap(bbox6f + i * 6, bbox6f + i * 6 + 3, segmentmins, segmentmaxs))
+                       {
+                               for(k = 0; k < stride; ++k)
+                               {
+                                       tri = i * stride + k;
+                                       if(tri >= numtriangles)
+                                               break;
+                                       Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[tri * 3 + 0] * 3, vertex3f + element3i[tri * 3 + 1] * 3, vertex3f + element3i[tri * 3 + 2] * 3, supercontents, q3surfaceflags, texture);
+                               }
+                       }
                }
        }
-#endif
-}
-
-
-static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
-static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
-static colbrushf_t polyf_brushstart, polyf_brushend;
-
-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 i;
-       if (numpoints > 256)
+       else
        {
-               Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
-               return;
+               for (i = 0;i < numtriangles;i++, element3i += 3)
+                       Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
        }
-       polyf_brushstart.numpoints = numpoints;
-       polyf_brushstart.numplanes = numpoints + 2;
-       polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
-       polyf_brushstart.planes = polyf_planesstart;
-       polyf_brushstart.supercontents = supercontents;
-       for (i = 0;i < numpoints;i++)
-               Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
-       polyf_brushend.numpoints = numpoints;
-       polyf_brushend.numplanes = numpoints + 2;
-       polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
-       polyf_brushend.planes = polyf_planesend;
-       polyf_brushend.supercontents = supercontents;
-       for (i = 0;i < numpoints;i++)
-               Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
-       Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
-       Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
-       Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
-       Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
-
-       //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
-       //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
-
-       Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 }
 
-
-
-#define MAX_BRUSHFORBOX 16
-static int brushforbox_index = 0;
-static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
-static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
-static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
-static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
-
-void Collision_InitBrushForBox(void)
+void Collision_TraceBrushTriangleFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const float *v0, const float *v1, const float *v2, int supercontents, int q3surfaceflags, const texture_t *texture)
 {
        int i;
-       for (i = 0;i < MAX_BRUSHFORBOX;i++)
+       colpointf_t points[3];
+       colpointf_t edgedirs[3];
+       colplanef_t planes[5];
+       colbrushf_t brush;
+       memset(&brush, 0, sizeof(brush));
+       brush.isaabb = false;
+       brush.hasaabbplanes = false;
+       brush.numpoints = 3;
+       brush.numedgedirs = 3;
+       brush.numplanes = 5;
+       brush.points = points;
+       brush.edgedirs = edgedirs;
+       brush.planes = planes;
+       brush.supercontents = supercontents;
+       brush.q3surfaceflags = q3surfaceflags;
+       brush.texture = texture;
+       for (i = 0;i < brush.numplanes;i++)
        {
-               brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
-               brushforbox_brush[i].numpoints = 8;
-               brushforbox_brush[i].numplanes = 6;
-               brushforbox_brush[i].points = brushforbox_point + i * 8;
-               brushforbox_brush[i].planes = brushforbox_plane + i * 6;
-               brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
-               brushforpoint_brush[i].numpoints = 1;
-               brushforpoint_brush[i].numplanes = 0;
-               brushforpoint_brush[i].points = brushforbox_point + i * 8;
-               brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
+               brush.planes[i].q3surfaceflags = q3surfaceflags;
+               brush.planes[i].texture = texture;
        }
+       VectorCopy(v0, points[0].v);
+       VectorCopy(v1, points[1].v);
+       VectorCopy(v2, points[2].v);
+       Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+       Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+       Collision_CalcPlanesForPolygonBrushFloat(&brush);
+       //Collision_PrintBrushAsQHull(&brush, "brush");
+       Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
 }
 
-colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
+void Collision_BrushForBox(colboxbrushf_t *boxbrush, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, const texture_t *texture)
 {
-       int i, j;
-       vec3_t v;
-       colbrushf_t *brush;
-       if (brushforbox_brush[0].numpoints == 0)
-               Collision_InitBrushForBox();
-       // FIXME: these probably don't actually need to be normalized if the collision code does not care
+       int i;
+       memset(boxbrush, 0, sizeof(*boxbrush));
+       boxbrush->brush.isaabb = true;
+       boxbrush->brush.hasaabbplanes = true;
+       boxbrush->brush.points = boxbrush->points;
+       boxbrush->brush.edgedirs = boxbrush->edgedirs;
+       boxbrush->brush.planes = boxbrush->planes;
+       boxbrush->brush.supercontents = supercontents;
+       boxbrush->brush.q3surfaceflags = q3surfaceflags;
+       boxbrush->brush.texture = texture;
        if (VectorCompare(mins, maxs))
        {
                // point brush
-               brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
-               VectorCopy(mins, brush->points->v);
+               boxbrush->brush.numpoints = 1;
+               boxbrush->brush.numedgedirs = 0;
+               boxbrush->brush.numplanes = 0;
+               VectorCopy(mins, boxbrush->brush.points[0].v);
        }
        else
        {
-               brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
-               // FIXME: optimize
-               for (i = 0;i < 8;i++)
-               {
-                       v[0] = i & 1 ? maxs[0] : mins[0];
-                       v[1] = i & 2 ? maxs[1] : mins[1];
-                       v[2] = i & 4 ? maxs[2] : mins[2];
-                       Matrix4x4_Transform(matrix, v, brush->points[i].v);
-               }
-               // FIXME: optimize!
+               boxbrush->brush.numpoints = 8;
+               boxbrush->brush.numedgedirs = 3;
+               boxbrush->brush.numplanes = 6;
+               // there are 8 points on a box
+               // there are 3 edgedirs on a box (both signs are tested in collision)
+               // there are 6 planes on a box
+               VectorSet(boxbrush->brush.points[0].v, mins[0], mins[1], mins[2]);
+               VectorSet(boxbrush->brush.points[1].v, maxs[0], mins[1], mins[2]);
+               VectorSet(boxbrush->brush.points[2].v, mins[0], maxs[1], mins[2]);
+               VectorSet(boxbrush->brush.points[3].v, maxs[0], maxs[1], mins[2]);
+               VectorSet(boxbrush->brush.points[4].v, mins[0], mins[1], maxs[2]);
+               VectorSet(boxbrush->brush.points[5].v, maxs[0], mins[1], maxs[2]);
+               VectorSet(boxbrush->brush.points[6].v, mins[0], maxs[1], maxs[2]);
+               VectorSet(boxbrush->brush.points[7].v, maxs[0], maxs[1], maxs[2]);
+               VectorSet(boxbrush->brush.edgedirs[0].v, 1, 0, 0);
+               VectorSet(boxbrush->brush.edgedirs[1].v, 0, 1, 0);
+               VectorSet(boxbrush->brush.edgedirs[2].v, 0, 0, 1);
+               VectorSet(boxbrush->brush.planes[0].normal, -1,  0,  0);boxbrush->brush.planes[0].dist = -mins[0];
+               VectorSet(boxbrush->brush.planes[1].normal,  1,  0,  0);boxbrush->brush.planes[1].dist =  maxs[0];
+               VectorSet(boxbrush->brush.planes[2].normal,  0, -1,  0);boxbrush->brush.planes[2].dist = -mins[1];
+               VectorSet(boxbrush->brush.planes[3].normal,  0,  1,  0);boxbrush->brush.planes[3].dist =  maxs[1];
+               VectorSet(boxbrush->brush.planes[4].normal,  0,  0, -1);boxbrush->brush.planes[4].dist = -mins[2];
+               VectorSet(boxbrush->brush.planes[5].normal,  0,  0,  1);boxbrush->brush.planes[5].dist =  maxs[2];
                for (i = 0;i < 6;i++)
                {
-                       VectorClear(v);
-                       v[i >> 1] = i & 1 ? 1 : -1;
-                       Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
-                       VectorNormalize(brush->planes[i].normal);
+                       boxbrush->brush.planes[i].q3surfaceflags = q3surfaceflags;
+                       boxbrush->brush.planes[i].texture = texture;
                }
        }
-       for (j = 0;j < brush->numplanes;j++)
-               brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
-       VectorCopy(brush->points[0].v, brush->mins);
-       VectorCopy(brush->points[0].v, brush->maxs);
-       for (j = 1;j < brush->numpoints;j++)
-       {
-               brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
-               brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
-               brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
-               brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
-               brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
-               brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
-       }
-       brush->mins[0] -= 1;
-       brush->mins[1] -= 1;
-       brush->mins[2] -= 1;
-       brush->maxs[0] += 1;
-       brush->maxs[1] += 1;
-       brush->maxs[2] += 1;
-       Collision_ValidateBrush(brush);
-       return brush;
+       boxbrush->brush.supercontents = supercontents;
+       boxbrush->brush.q3surfaceflags = q3surfaceflags;
+       boxbrush->brush.texture = texture;
+       VectorSet(boxbrush->brush.mins, mins[0] - 1, mins[1] - 1, mins[2] - 1);
+       VectorSet(boxbrush->brush.maxs, maxs[0] + 1, maxs[1] + 1, maxs[2] + 1);
+       //Collision_ValidateBrush(&boxbrush->brush);
 }
 
-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)
+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)
 {
-       colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
-       matrix4x4_t identitymatrix;
+       colboxbrushf_t boxbrush, thisbrush_start, thisbrush_end;
        vec3_t startmins, startmaxs, endmins, endmaxs;
 
        // create brushes for the collision
@@ -1041,20 +1251,22 @@ void Collision_ClipTrace_BrushBox(trace_t *trace, const vec3_t cmins, const vec3
        VectorAdd(start, maxs, startmaxs);
        VectorAdd(end, mins, endmins);
        VectorAdd(end, maxs, endmaxs);
-       Matrix4x4_CreateIdentity(&identitymatrix);
-       boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
-       thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
-       thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
+       Collision_BrushForBox(&boxbrush, cmins, cmaxs, supercontents, q3surfaceflags, texture);
+       Collision_BrushForBox(&thisbrush_start, startmins, startmaxs, 0, 0, NULL);
+       Collision_BrushForBox(&thisbrush_end, endmins, endmaxs, 0, 0, NULL);
 
        memset(trace, 0, sizeof(trace_t));
        trace->hitsupercontentsmask = hitsupercontentsmask;
        trace->fraction = 1;
        trace->realfraction = 1;
        trace->allsolid = true;
-       Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
+       Collision_TraceBrushBrushFloat(trace, &thisbrush_start.brush, &thisbrush_end.brush, &boxbrush.brush, &boxbrush.brush);
 }
 
-// LordHavoc: currently unused and not yet tested
+//pseudocode for detecting line/sphere overlap without calculating an impact point
+//linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
+
+// LordHavoc: currently unused, but tested
 // note: this can be used for tracing a moving sphere vs a stationary sphere,
 // by simply adding the moving sphere's radius to the sphereradius parameter,
 // all the results are correct (impactpoint, impactnormal, and fraction)
@@ -1063,67 +1275,47 @@ float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double
        double dir[3], scale, v[3], deviationdist, impactdist, linelength;
        // make sure the impactpoint and impactnormal are valid even if there is
        // no collision
-       impactpoint[0] = lineend[0];
-       impactpoint[1] = lineend[1];
-       impactpoint[2] = lineend[2];
-       impactnormal[0] = 0;
-       impactnormal[1] = 0;
-       impactnormal[2] = 0;
+       VectorCopy(lineend, impactpoint);
+       VectorClear(impactnormal);
        // calculate line direction
-       dir[0] = lineend[0] - linestart[0];
-       dir[1] = lineend[1] - linestart[1];
-       dir[2] = lineend[2] - linestart[2];
+       VectorSubtract(lineend, linestart, dir);
        // normalize direction
-       linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
+       linelength = VectorLength(dir);
        if (linelength)
        {
                scale = 1.0 / linelength;
-               dir[0] *= scale;
-               dir[1] *= scale;
-               dir[2] *= scale;
+               VectorScale(dir, scale, dir);
        }
        // this dotproduct calculates the distance along the line at which the
        // sphere origin is (nearest point to the sphere origin on the line)
-       impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
+       impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
        // calculate point on line at that distance, and subtract the
        // sphereorigin from it, so we have a vector to measure for the distance
        // of the line from the sphereorigin (deviation, how off-center it is)
-       v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
-       v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
-       v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
-       deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
+       VectorMA(linestart, impactdist, dir, v);
+       VectorSubtract(v, sphereorigin, v);
+       deviationdist = VectorLength2(v);
        // if outside the radius, it's a miss for sure
        // (we do this comparison using squared radius to avoid a sqrt)
        if (deviationdist > sphereradius*sphereradius)
                return 1; // miss (off to the side)
        // nudge back to find the correct impact distance
-       impactdist += deviationdist - sphereradius;
+       impactdist -= sphereradius - deviationdist/sphereradius;
        if (impactdist >= linelength)
                return 1; // miss (not close enough)
        if (impactdist < 0)
                return 1; // miss (linestart is past or inside sphere)
        // calculate new impactpoint
-       impactpoint[0] = linestart[0] + impactdist * dir[0];
-       impactpoint[1] = linestart[1] + impactdist * dir[1];
-       impactpoint[2] = linestart[2] + impactdist * dir[2];
+       VectorMA(linestart, impactdist, dir, impactpoint);
        // calculate impactnormal (surface normal at point of impact)
-       impactnormal[0] = impactpoint[0] - sphereorigin[0];
-       impactnormal[1] = impactpoint[1] - sphereorigin[1];
-       impactnormal[2] = impactpoint[2] - sphereorigin[2];
+       VectorSubtract(impactpoint, sphereorigin, impactnormal);
        // normalize impactnormal
-       scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
-       if (scale)
-       {
-               scale = 1.0 / sqrt(scale);
-               impactnormal[0] *= scale;
-               impactnormal[1] *= scale;
-               impactnormal[2] *= scale;
-       }
+       VectorNormalize(impactnormal);
        // return fraction of movement distance
        return impactdist / linelength;
 }
 
-void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2)
+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, const texture_t *texture)
 {
 #if 1
        // more optimized
@@ -1229,11 +1421,18 @@ void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, co
        // (the main fraction remains perfect)
        trace->fraction = f - collision_impactnudge.value * d;
 
+       if (collision_prefernudgedfraction.integer)
+               trace->realfraction = trace->fraction;
+
        // store the new trace plane (because collisions only happen from
        // the front this is always simply the triangle normal, never flipped)
        d = 1.0 / sqrt(faceplanenormallength2);
        VectorScale(faceplanenormal, d, trace->plane.normal);
        trace->plane.dist = faceplanedist * d;
+
+       trace->hitsupercontents = supercontents;
+       trace->hitq3surfaceflags = q3surfaceflags;
+       trace->hittexture = texture;
 #else
        float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
 
@@ -1327,6 +1526,9 @@ void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, co
        //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
        //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
        //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
+       trace->hitsupercontents = supercontents;
+       trace->hitq3surfaceflags = q3surfaceflags;
+       trace->hittexture = texture;
 #endif
 }
 
@@ -1354,9 +1556,9 @@ colbsp_t;
 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
 {
        colbsp_t *bsp;
-       bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
+       bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
        bsp->mempool = mempool;
-       bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
+       bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
        return bsp;
 }
 
@@ -1405,3 +1607,239 @@ void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const co
        maxs[2] += 1;
 }
 
+//===========================================
+
+void Collision_TranslateBrush(const vec3_t shift, colbrushf_t *brush)
+{
+       int i;
+       // now we can transform the data
+       for(i = 0; i < brush->numplanes; ++i)
+       {
+               brush->planes[i].dist += DotProduct(shift, brush->planes[i].normal);
+       }
+       for(i = 0; i < brush->numpoints; ++i)
+       {
+               VectorAdd(brush->points[i].v, shift, brush->points[i].v);
+       }
+       VectorAdd(brush->mins, shift, brush->mins);
+       VectorAdd(brush->maxs, shift, brush->maxs);
+}
+
+void Collision_TransformBrush(const matrix4x4_t *matrix, colbrushf_t *brush)
+{
+       int i;
+       vec3_t v;
+       // we're breaking any AABB properties here...
+       brush->isaabb = false;
+       brush->hasaabbplanes = false;
+       // now we can transform the data
+       for(i = 0; i < brush->numplanes; ++i)
+       {
+               Matrix4x4_TransformPositivePlane(matrix, brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist, brush->planes[i].normal);
+       }
+       for(i = 0; i < brush->numedgedirs; ++i)
+       {
+               Matrix4x4_Transform(matrix, brush->edgedirs[i].v, v);
+               VectorCopy(v, brush->edgedirs[i].v);
+       }
+       for(i = 0; i < brush->numpoints; ++i)
+       {
+               Matrix4x4_Transform(matrix, brush->points[i].v, v);
+               VectorCopy(v, brush->points[i].v);
+       }
+       VectorCopy(brush->points[0].v, brush->mins);
+       VectorCopy(brush->points[0].v, brush->maxs);
+       for(i = 1; i < brush->numpoints; ++i)
+       {
+               if(brush->points[i].v[0] < brush->mins[0]) brush->mins[0] = brush->points[i].v[0];
+               if(brush->points[i].v[1] < brush->mins[1]) brush->mins[1] = brush->points[i].v[1];
+               if(brush->points[i].v[2] < brush->mins[2]) brush->mins[2] = brush->points[i].v[2];
+               if(brush->points[i].v[0] > brush->maxs[0]) brush->maxs[0] = brush->points[i].v[0];
+               if(brush->points[i].v[1] > brush->maxs[1]) brush->maxs[1] = brush->points[i].v[1];
+               if(brush->points[i].v[2] > brush->maxs[2]) brush->maxs[2] = brush->points[i].v[2];
+       }
+}
+
+void Collision_ClipToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask)
+{
+       float starttransformed[3], endtransformed[3];
+
+       memset(trace, 0, sizeof(*trace));
+       trace->fraction = trace->realfraction = 1;
+
+       Matrix4x4_Transform(inversematrix, start, starttransformed);
+       Matrix4x4_Transform(inversematrix, end, endtransformed);
+#if COLLISIONPARANOID >= 3
+       Con_Printf("trans(%f %f %f -> %f %f %f, %f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2], end[0], end[1], end[2], endtransformed[0], endtransformed[1], endtransformed[2]);
+#endif
+
+       if (model && model->TraceBox)
+       {
+               if(model->TraceBrush && (inversematrix->m[0][1] || inversematrix->m[0][2] || inversematrix->m[1][0] || inversematrix->m[1][2] || inversematrix->m[2][0] || inversematrix->m[2][1]))
+               {
+                       // we get here if TraceBrush exists, AND we have a rotation component (SOLID_BSP case)
+                       // using starttransformed, endtransformed is WRONG in this case!
+                       // should rather build a brush and trace using it
+                       colboxbrushf_t thisbrush_start, thisbrush_end;
+                       Collision_BrushForBox(&thisbrush_start, mins, maxs, 0, 0, NULL);
+                       Collision_BrushForBox(&thisbrush_end, mins, maxs, 0, 0, NULL);
+                       Collision_TranslateBrush(start, &thisbrush_start.brush);
+                       Collision_TranslateBrush(end, &thisbrush_end.brush);
+                       Collision_TransformBrush(inversematrix, &thisbrush_start.brush);
+                       Collision_TransformBrush(inversematrix, &thisbrush_end.brush);
+                       //Collision_TranslateBrush(starttransformed, &thisbrush_start.brush);
+                       //Collision_TranslateBrush(endtransformed, &thisbrush_end.brush);
+                       model->TraceBrush(model, frameblend, skeleton, trace, &thisbrush_start.brush, &thisbrush_end.brush, hitsupercontentsmask);
+               }
+               else // this is only approximate if rotated, quite useless
+                       model->TraceBox(model, frameblend, skeleton, trace, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask);
+       }
+       else // and this requires that the transformation matrix doesn't have angles components, like SV_TraceBox ensures; FIXME may get called if a model is SOLID_BSP but has no TraceBox function
+               Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
+       trace->fraction = bound(0, trace->fraction, 1);
+       trace->realfraction = bound(0, trace->realfraction, 1);
+
+       VectorLerp(start, trace->fraction, end, trace->endpos);
+       // transform plane
+       // NOTE: this relies on plane.dist being directly after plane.normal
+       Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
+}
+
+void Collision_ClipToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontents)
+{
+       memset(trace, 0, sizeof(*trace));
+       trace->fraction = trace->realfraction = 1;
+       // ->TraceBox: TraceBrush not needed here, as worldmodel is never rotated
+       if (model && model->TraceBox)
+               model->TraceBox(model, NULL, NULL, trace, start, mins, maxs, end, hitsupercontents);
+       trace->fraction = bound(0, trace->fraction, 1);
+       trace->realfraction = bound(0, trace->realfraction, 1);
+       VectorLerp(start, trace->fraction, end, trace->endpos);
+}
+
+void Collision_ClipLineToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, const vec3_t end, int hitsupercontentsmask)
+{
+       float starttransformed[3], endtransformed[3];
+
+       memset(trace, 0, sizeof(*trace));
+       trace->fraction = trace->realfraction = 1;
+
+       Matrix4x4_Transform(inversematrix, start, starttransformed);
+       Matrix4x4_Transform(inversematrix, end, endtransformed);
+#if COLLISIONPARANOID >= 3
+       Con_Printf("trans(%f %f %f -> %f %f %f, %f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2], end[0], end[1], end[2], endtransformed[0], endtransformed[1], endtransformed[2]);
+#endif
+
+       if (model && model->TraceLine)
+               model->TraceLine(model, frameblend, skeleton, trace, starttransformed, endtransformed, hitsupercontentsmask);
+       else
+               Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, vec3_origin, vec3_origin, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
+       trace->fraction = bound(0, trace->fraction, 1);
+       trace->realfraction = bound(0, trace->realfraction, 1);
+
+       VectorLerp(start, trace->fraction, end, trace->endpos);
+       // transform plane
+       // NOTE: this relies on plane.dist being directly after plane.normal
+       Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
+}
+
+void Collision_ClipLineToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, const vec3_t end, int hitsupercontents)
+{
+       memset(trace, 0, sizeof(*trace));
+       trace->fraction = trace->realfraction = 1;
+       if (model && model->TraceLine)
+               model->TraceLine(model, NULL, NULL, trace, start, end, hitsupercontents);
+       trace->fraction = bound(0, trace->fraction, 1);
+       trace->realfraction = bound(0, trace->realfraction, 1);
+       VectorLerp(start, trace->fraction, end, trace->endpos);
+}
+
+void Collision_ClipPointToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, int hitsupercontentsmask)
+{
+       float starttransformed[3];
+
+       memset(trace, 0, sizeof(*trace));
+       trace->fraction = trace->realfraction = 1;
+
+       Matrix4x4_Transform(inversematrix, start, starttransformed);
+#if COLLISIONPARANOID >= 3
+       Con_Printf("trans(%f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2]);
+#endif
+
+       if (model && model->TracePoint)
+               model->TracePoint(model, NULL, NULL, trace, starttransformed, hitsupercontentsmask);
+       else
+               Collision_ClipTrace_Point(trace, bodymins, bodymaxs, starttransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
+
+       VectorCopy(start, trace->endpos);
+       // transform plane
+       // NOTE: this relies on plane.dist being directly after plane.normal
+       Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
+}
+
+void Collision_ClipPointToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, int hitsupercontents)
+{
+       memset(trace, 0, sizeof(*trace));
+       trace->fraction = trace->realfraction = 1;
+       if (model && model->TracePoint)
+               model->TracePoint(model, NULL, NULL, trace, start, hitsupercontents);
+       VectorCopy(start, trace->endpos);
+}
+
+void Collision_CombineTraces(trace_t *cliptrace, const trace_t *trace, void *touch, qboolean isbmodel)
+{
+       // take the 'best' answers from the new trace and combine with existing data
+       if (trace->allsolid)
+               cliptrace->allsolid = true;
+       if (trace->startsolid)
+       {
+               if (isbmodel)
+                       cliptrace->bmodelstartsolid = true;
+               cliptrace->startsolid = true;
+               if (cliptrace->realfraction == 1)
+                       cliptrace->ent = touch;
+               if (cliptrace->startdepth > trace->startdepth)
+               {
+                       cliptrace->startdepth = trace->startdepth;
+                       VectorCopy(trace->startdepthnormal, cliptrace->startdepthnormal);
+               }
+       }
+       // don't set this except on the world, because it can easily confuse
+       // monsters underwater if there's a bmodel involved in the trace
+       // (inopen && inwater is how they check water visibility)
+       //if (trace->inopen)
+       //      cliptrace->inopen = true;
+       if (trace->inwater)
+               cliptrace->inwater = true;
+       if ((trace->realfraction <= cliptrace->realfraction) && (VectorLength2(trace->plane.normal) > 0))
+       {
+               cliptrace->fraction = trace->fraction;
+               cliptrace->realfraction = trace->realfraction;
+               VectorCopy(trace->endpos, cliptrace->endpos);
+               cliptrace->plane = trace->plane;
+               cliptrace->ent = touch;
+               cliptrace->hitsupercontents = trace->hitsupercontents;
+               cliptrace->hitq3surfaceflags = trace->hitq3surfaceflags;
+               cliptrace->hittexture = trace->hittexture;
+       }
+       cliptrace->startsupercontents |= trace->startsupercontents;
+}
+
+void Collision_ShortenTrace(trace_t *trace, float shorten_factor, const vec3_t end)
+{
+       // now undo our moving end 1 qu farther...
+       trace->fraction = bound(trace->fraction, trace->fraction / shorten_factor - 1e-6, 1); // we subtract 1e-6 to guard for roundoff errors
+       trace->realfraction = bound(trace->realfraction, trace->realfraction / shorten_factor - 1e-6, 1); // we subtract 1e-6 to guard for roundoff errors
+       if(trace->fraction >= 1) // trace would NOT hit if not expanded!
+       {
+               trace->fraction = 1;
+               trace->realfraction = 1;
+               VectorCopy(end, trace->endpos);
+               memset(&trace->plane, 0, sizeof(trace->plane));
+               trace->ent = NULL;
+               trace->hitsupercontentsmask = 0;
+               trace->hitsupercontents = 0;
+               trace->hitq3surfaceflags = 0;
+               trace->hittexture = NULL;
+       }
+}