#include "quakedef.h"
-#include "winding.h"
+#include "polygon.h"
+#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"};
+
+#if 0
typedef struct
{
// the hull we're tracing through
}
RecursiveHullCheckTraceInfo_t;
-// 1/32 epsilon to keep floating point happy
-#define DIST_EPSILON (0.03125)
-
#define HULLCHECKSTATE_EMPTY 0
#define HULLCHECKSTATE_SOLID 1
#define HULLCHECKSTATE_DONE 2
// check for empty
if (num < 0)
{
- // translate the fake CONTENTS values in the box bsp tree
- if (num == CONTENTS_SOLID)
- num = t->boxsupercontents;
- else
- num = 0;
+ num = Mod_Q1BSP_SuperContentsFromNativeContents(NULL, num);
if (!t->trace->startfound)
{
t->trace->startfound = true;
t->trace->startsupercontents |= num;
}
+ if (num & SUPERCONTENTS_LIQUIDSMASK)
+ t->trace->inwater = true;
+ if (num == 0)
+ t->trace->inopen = true;
if (num & t->trace->hitsupercontentsmask)
{
// if the first leaf is solid, set startsolid
if (t->trace->allsolid)
t->trace->startsolid = true;
+#if COLLISIONPARANOID >= 3
+ Con_Print("S");
+#endif
return HULLCHECKSTATE_SOLID;
}
else
{
t->trace->allsolid = false;
+#if COLLISIONPARANOID >= 3
+ Con_Print("E");
+#endif
return HULLCHECKSTATE_EMPTY;
}
}
{
if (t2 < 0)
{
+#if COLLISIONPARANOID >= 3
+ Con_Print("<");
+#endif
num = node->children[1];
goto loc0;
}
{
if (t2 >= 0)
{
+#if COLLISIONPARANOID >= 3
+ Con_Print(">");
+#endif
num = node->children[0];
goto loc0;
}
// the line intersects, find intersection point
// LordHavoc: this uses the original trace for maximum accuracy
+#if COLLISIONPARANOID >= 3
+ Con_Print("M");
+#endif
if (plane->type < 3)
{
t1 = t->start[plane->type] - plane->dist;
VectorCopy (plane->normal, t->trace->plane.normal);
}
- // bias away from surface a bit
- t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
- t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
-
+ // calculate the true fraction
+ t1 = DotProduct(t->trace->plane.normal, t->start) - t->trace->plane.dist - collision_startnudge.value;
+ t2 = DotProduct(t->trace->plane.normal, t->end) - t->trace->plane.dist - collision_endnudge.value;
midf = t1 / (t1 - t2);
- t->trace->fraction = bound(0.0f, midf, 1.0);
+ t->trace->realfraction = bound(0, midf, 1);
- VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
+ // calculate the return fraction which is nudged off the surface a bit
+ midf = (t1 - collision_impactnudge.value) / (t1 - t2);
+ t->trace->fraction = bound(0, midf, 1);
+#if COLLISIONPARANOID >= 3
+ Con_Print("D");
+#endif
return HULLCHECKSTATE_DONE;
}
static dclipnode_t box_clipnodes[6];
static mplane_t box_planes[6];
-void Collision_Init (void)
+void Mod_Q1BSP_Collision_Init (void)
{
int i;
int side;
rhc.trace = trace;
rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
rhc.trace->fraction = 1;
+ rhc.trace->realfraction = 1;
rhc.trace->allsolid = true;
VectorCopy(start, rhc.start);
VectorCopy(end, rhc.end);
VectorSubtract(rhc.end, rhc.start, rhc.dist);
- RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
+ Mod_Q1BSP_RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
+ VectorMA(rhc.start, rhc.trace->fraction, rhc.dist, rhc.trace->endpos);
+ if (rhc.trace->startsupercontents)
+ rhc.trace->startsupercontents = boxsupercontents;
}
+#endif
+void Collision_Init (void)
+{
+ Cvar_RegisterVariable(&collision_impactnudge);
+ Cvar_RegisterVariable(&collision_startnudge);
+ Cvar_RegisterVariable(&collision_endnudge);
+ Cvar_RegisterVariable(&collision_enternudge);
+ Cvar_RegisterVariable(&collision_leavenudge);
+}
void Collision_ValidateBrush(colbrushf_t *brush)
{
- int j, k;
+ int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
+ float d;
+ printbrush = false;
if (!brush->numpoints)
{
- Con_Printf("Collision_ValidateBrush: brush with no points!\n");
- Collision_PrintBrushAsQHull(brush, "unnamed");
- return;
+ Con_Print("Collision_ValidateBrush: brush with no points!\n");
+ printbrush = true;
}
+#if 0
// it's ok for a brush to have one point and no planes...
if (brush->numplanes == 0 && brush->numpoints != 1)
{
- Con_Printf("Collision_ValidateBrush: brush with no planes and more than one point!\n");
- Collision_PrintBrushAsQHull(brush, "unnamed");
- return;
+ Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
+ printbrush = true;
}
- for (k = 0;k < brush->numplanes;k++)
+#endif
+ if (brush->numplanes)
{
+ pointsoffplanes = 0;
+ pointswithinsufficientplanes = 0;
+ for (k = 0;k < brush->numplanes;k++)
+ if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
+ Con_Printf("Collision_ValidateBrush: plane #%i (%f %f %f %f) is degenerate\n", k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
for (j = 0;j < brush->numpoints;j++)
{
- if (DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist > (1.0f / 8.0f))
+ pointonplanes = 0;
+ for (k = 0;k < brush->numplanes;k++)
{
- Con_Printf("Collision_NewBrushFromPlanes: 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);
- Collision_PrintBrushAsQHull(brush, "unnamed");
- return;
+ d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
+ if (d > (1.0f / 8.0f))
+ {
+ 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)
+ pointsoffplanes++;
+ else
+ pointonplanes++;
}
+ if (pointonplanes < 3)
+ pointswithinsufficientplanes++;
+ }
+ if (pointswithinsufficientplanes)
+ {
+ Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
+ printbrush = true;
+ }
+ if (pointsoffplanes == 0) // all points are on all planes
+ {
+ Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
+ printbrush = true;
}
}
+ if (printbrush)
+ Collision_PrintBrushAsQHull(brush, "unnamed");
+}
+
+float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
+{
+ float dist, bestdist;
+ bestdist = DotProduct(points->v, normal);
+ points++;
+ while(--numpoints)
+ {
+ dist = DotProduct(points->v, normal);
+ bestdist = min(bestdist, dist);
+ points++;
+ }
+ return bestdist;
+}
+
+float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
+{
+ float dist, bestdist;
+ bestdist = DotProduct(points->v, normal);
+ points++;
+ while(--numpoints)
+ {
+ dist = DotProduct(points->v, normal);
+ bestdist = max(bestdist, dist);
+ points++;
+ }
+ return bestdist;
}
colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents)
{
- int j, k, m;
- int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
- winding_t *w;
+ int j, k, m, w;
+ int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
colbrushf_t *brush;
colpointf_t pointsbuf[256];
colplanef_t planesbuf[256];
int elementsbuf[1024];
int polypointbuf[256];
+ int pmaxpoints = 64;
+ int pnumpoints;
+ double p[2][3*64];
+#if 0
+ // enable these if debugging to avoid seeing garbage in unused data
+ memset(pointsbuf, 0, sizeof(pointsbuf));
+ memset(planesbuf, 0, sizeof(planesbuf));
+ memset(elementsbuf, 0, sizeof(elementsbuf));
+ memset(polypointbuf, 0, sizeof(polypointbuf));
+ memset(p, 0, sizeof(p));
+#endif
// 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)
- numpoints = 0;maxpoints = 256;
- numplanes = 0;maxplanes = 256;
- numelements = 0;maxelements = 1024;
- numtriangles = 0;
- maxpolypoints = 256;
for (j = 0;j < numoriginalplanes;j++)
{
// add the plane uniquely (no duplicates)
- for (k = 0;k < numplanes;k++)
+ 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 < numplanes)
+ if (k < numplanesbuf)
continue;
// check if there are too many and skip the brush
- if (numplanes >= 256)
+ if (numplanesbuf >= maxplanesbuf)
{
- Con_Printf("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
+ Con_Print("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
return NULL;
}
// create a large polygon from the plane
- w = Winding_NewFromPlane(originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
+ 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);
+ pnumpoints = 4;
// clip it by all other planes
- for (k = 0;k < numoriginalplanes && w;k++)
+ for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
{
if (k != j)
{
// we want to keep the inside of the brush plane so we flip
// the cutting plane
- w = Winding_Clip(w, -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, true);
+ 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);
+ w = !w;
}
}
// if nothing is left, skip it
- if (!w)
+ 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);
continue;
+ }
- // copy off the number of points for later when the winding is freed
- numpolypoints = w->numpoints;
+ for (k = 0;k < pnumpoints;k++)
+ {
+ 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)
+ m++;
+ if (m < 3)
+ break;
+ }
+ if (k < pnumpoints)
+ {
+ Con_Printf("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 (numpolypoints > maxpolypoints)
+ if (pnumpoints > pmaxpoints)
{
- Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
+ Con_Print("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 (numelements + (w->numpoints - 2) * 3 > maxelements)
+ if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
{
- Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
+ Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
return NULL;
}
- for (k = 0;k < w->numpoints;k++)
+ for (k = 0;k < pnumpoints;k++)
{
// check if there is already a matching point (no duplicates)
- for (m = 0;m < numpoints;m++)
- if (VectorDistance2(w->points[k], pointsbuf[m].v) < DIST_EPSILON)
+ for (m = 0;m < numpointsbuf;m++)
+ if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
break;
// if there is no match, add a new one
- if (m == numpoints)
+ if (m == numpointsbuf)
{
// check if there are too many and skip the brush
- if (numpoints >= 256)
+ if (numpointsbuf >= maxpointsbuf)
{
- Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
- Winding_Free(w);
+ Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
return NULL;
}
// add the new one
- VectorCopy(w->points[k], pointsbuf[numpoints].v);
- numpoints++;
+ VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
+ numpointsbuf++;
}
// store the index into a buffer
polypointbuf[k] = m;
}
- Winding_Free(w);
- w = NULL;
// add the triangles for the polygon
// (this particular code makes a triangle fan)
- for (k = 0;k < numpolypoints - 2;k++)
+ for (k = 0;k < pnumpoints - 2;k++)
{
- numtriangles++;
- elementsbuf[numelements++] = polypointbuf[0];
- elementsbuf[numelements++] = polypointbuf[k + 1];
- elementsbuf[numelements++] = polypointbuf[k + 2];
+ elementsbuf[numelementsbuf++] = polypointbuf[0];
+ elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
+ elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
}
// add the new plane
- VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
- planesbuf[numplanes].dist = originalplanes[j].dist;
- numplanes++;
+ VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
+ planesbuf[numplanesbuf].dist = originalplanes[j].dist;
+ numplanesbuf++;
+ }
+
+ // 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 nothing is left, there's nothing to allocate
- if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
+ if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 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);
return NULL;
+ }
// allocate the brush and copy to it
- brush = Collision_AllocBrushFloat(mempool, numpoints, numplanes, numtriangles, supercontents);
- memcpy(brush->points, pointsbuf, numpoints * sizeof(colpointf_t));
- memcpy(brush->planes, planesbuf, numplanes * sizeof(colplanef_t));
- memcpy(brush->elements, elementsbuf, numtriangles * sizeof(int[3]));
+ brush = Collision_AllocBrushFloat(mempool, numpointsbuf, numplanesbuf, numelementsbuf / 3, supercontents);
+ 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->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;
+ }
+ 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++)
+ {
+ 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;
}
void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
{
int i;
- float edge0[3], edge1[3], normal[3], dist, bestdist;
+ float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
colpointf_t *p, *p2;
- // choose best surface normal for polygon's plane
- bestdist = 0;
- for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
+ if (brush->numpoints == 3)
{
- VectorSubtract(p[-1].v, p[0].v, edge0);
- VectorSubtract(p[1].v, p[0].v, edge1);
- CrossProduct(edge0, edge1, normal);
- dist = DotProduct(normal, normal);
- if (i == 0 || bestdist < dist)
+ // optimized triangle case
+ TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
+ if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
+ {
+ // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
+ brush->numplanes = 0;
+ return;
+ }
+ else
{
- bestdist = dist;
- VectorCopy(normal, brush->planes->normal);
+ brush->numplanes = 5;
+ 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);
+ brush->planes[1].dist = -brush->planes[0].dist;
+ 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);
+#if 1
+ {
+ float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
+ int i, best;
+ float dist, bestdist;
+ bestdist = fabs(brush->planes[0].normal[0]);
+ best = 0;
+ for (i = 1;i < 3;i++)
+ {
+ dist = fabs(brush->planes[0].normal[i]);
+ if (bestdist < dist)
+ {
+ bestdist = dist;
+ best = i;
+ }
+ }
+ VectorClear(projectionnormal);
+ if (brush->planes[0].normal[best] < 0)
+ projectionnormal[best] = -1;
+ else
+ projectionnormal[best] = 1;
+ VectorCopy(edge0, projectionedge0);
+ VectorCopy(edge1, projectionedge1);
+ VectorCopy(edge2, projectionedge2);
+ projectionedge0[best] = 0;
+ projectionedge1[best] = 0;
+ projectionedge2[best] = 0;
+ CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
+ CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
+ CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
+ }
+#else
+ CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
+ CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
+ CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
+#endif
+ VectorNormalize(brush->planes[2].normal);
+ VectorNormalize(brush->planes[3].normal);
+ VectorNormalize(brush->planes[4].normal);
+ brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
+ 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)
+ {
+ // validation code
+#if 0
+ float temp[3];
+
+ VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
+ VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
+ CrossProduct(edge0, edge1, normal);
+ 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]);
+ 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);
+#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);
+ 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);
+ 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);
+ 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]);
+ 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]);
+ 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]);
+#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);
+ 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);
+ 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);
+ 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);
+ 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);
+ }
}
}
-
- VectorNormalize(brush->planes->normal);
- brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
-
- // negate plane to create other side
- VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
- brush->planes[1].dist = -brush->planes[0].dist;
- for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
+ else
{
- VectorSubtract(p->v, p2->v, edge0);
- CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
- VectorNormalize(brush->planes[i + 2].normal);
- brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
+ // choose best surface normal for polygon's plane
+ bestdist = 0;
+ for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
+ {
+ VectorSubtract(p[-1].v, p[0].v, edge0);
+ VectorSubtract(p[1].v, p[0].v, edge1);
+ CrossProduct(edge0, edge1, normal);
+ //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
+ dist = DotProduct(normal, normal);
+ if (i == 0 || bestdist < dist)
+ {
+ bestdist = dist;
+ VectorCopy(normal, brush->planes->normal);
+ }
+ }
+ if (bestdist < 0.0001f)
+ {
+ // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
+ brush->numplanes = 0;
+ return;
+ }
+ else
+ {
+ brush->numplanes = brush->numpoints + 2;
+ VectorNormalize(brush->planes->normal);
+ brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
+
+ // negate plane to create other side
+ VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
+ brush->planes[1].dist = -brush->planes[0].dist;
+ for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
+ {
+ VectorSubtract(p->v, p2->v, edge0);
+ CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
+ VectorNormalize(brush->planes[i + 2].normal);
+ brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
+ }
+ }
}
-#if 1
- // validity check - will be disabled later
- for (i = 0;i < brush->numplanes;i++)
+ if (developer.integer)
{
- 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);
+ // validity check - will be disabled later
+ Collision_ValidateBrush(brush);
+ for (i = 0;i < brush->numplanes;i++)
+ {
+ 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);
+ }
}
-#endif
}
colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
return brush;
}
-float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
-{
- float dist, bestdist;
- bestdist = DotProduct(points->v, normal);
- points++;
- while(--numpoints)
- {
- dist = DotProduct(points->v, normal);
- bestdist = min(bestdist, dist);
- points++;
- }
- return bestdist;
-}
-
-float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
-{
- float dist, bestdist;
- bestdist = DotProduct(points->v, normal);
- points++;
- while(--numpoints)
- {
- dist = DotProduct(points->v, normal);
- bestdist = max(bestdist, dist);
- points++;
- }
- return bestdist;
-}
-
-#define COLLISIONEPSILON (1.0f / 32.0f)
-#define COLLISIONEPSILON2 0//(1.0f / 32.0f)
-
// 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)
{
int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
- float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
+ float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
const colplanef_t *startplane, *endplane;
enterfrac = -1;
+ enterfrac2 = -1;
leavefrac = 1;
fstartsolid = true;
fendsolid = true;
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;
}
else
{
startplane = thatbrush_start->planes + nplane2;
endplane = thatbrush_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 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);
+ }
+ 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;
}
- d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
- d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
//Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
- f = d1 - d2;
- if (f >= 0)
+ move = d1 - d2;
+ if (move > 0)
{
// moving into brush
- if (d2 > 0)
+ if (d2 > collision_enternudge.value)
return;
if (d1 < 0)
continue;
// enter
fstartsolid = false;
- f = (d1 - COLLISIONEPSILON) / f;
+ imove = 1 / move;
+ f = (d1 - collision_enternudge.value) * imove;
f = bound(0, f, 1);
if (enterfrac < f)
{
enterfrac = f;
- VectorBlend(startplane->normal, endplane->normal, enterfrac, newimpactnormal);
+ enterfrac2 = f - collision_impactnudge.value * imove;
+ enterfrac2 = bound(0, enterfrac2, 1);
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
}
}
- else if (f < 0)
+ else if (move < 0)
{
// moving out of brush
- if (d1 > 0)
+ if (d1 > collision_leavenudge.value)
return;
if (d2 < 0)
continue;
// leave
fendsolid = false;
- f = (d1 + COLLISIONEPSILON) / f;
+ f = (d1 + collision_leavenudge.value) / move;
f = bound(0, f, 1);
if (leavefrac > f)
leavefrac = f;
}
+ else
+ {
+ // sliding along plane
+ if (d1 > 0)
+ return;
+ }
}
brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
// 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->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+ if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
{
- trace->fraction = bound(0, enterfrac, 1);
- VectorCopy(newimpactnormal, trace->plane.normal);
+#if 0
+ // broken
+ if (thatbrush_start->ispolygon)
+ {
+ 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)
+ {
+ 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);
+ }
+ }
+ else
+#endif
+ {
+ trace->realfraction = bound(0, enterfrac, 1);
+ trace->fraction = bound(0, enterfrac2, 1);
+ VectorCopy(newimpactnormal, trace->plane.normal);
+ }
}
}
-// NOTE: start and end of brush pair must have same numplanes/numpoints
+// 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)
{
int nplane, fstartsolid, fendsolid, brushsolid;
- float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
+ float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
const colplanef_t *startplane, *endplane;
enterfrac = -1;
+ enterfrac2 = -1;
leavefrac = 1;
fstartsolid = true;
fendsolid = true;
{
startplane = thatbrush_start->planes + nplane;
endplane = thatbrush_end->planes + nplane;
- d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
- d2 = DotProduct(endplane->normal, lineend) - endplane->dist;
+ d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
+ d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
+ 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_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);
+ }
+ }
- f = d1 - d2;
- if (f >= 0)
+ move = d1 - d2;
+ if (move > 0)
{
// moving into brush
- if (d2 > 0)
+ if (d2 >= 0)
return;
- if (d1 < 0)
+ if (d1 <= 0)
continue;
// enter
fstartsolid = false;
- f = (d1 - COLLISIONEPSILON) / f;
- f = bound(0, f, 1);
+ imove = 1 / move;
+ f = (d1 - collision_enternudge.value) * imove;
if (enterfrac < f)
{
enterfrac = f;
- VectorBlend(startplane->normal, endplane->normal, enterfrac, newimpactnormal);
+ enterfrac2 = f - collision_impactnudge.value * imove;
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
}
}
- else if (f < 0)
+ else
{
// moving out of brush
- if (d1 > 0)
+ if (d1 >= 0)
return;
- if (d2 < 0)
+ if (d2 <= 0)
continue;
// leave
fendsolid = false;
- f = (d1 + COLLISIONEPSILON) / f;
- f = bound(0, f, 1);
+ f = (d1 - collision_leavenudge.value) / move;
if (leavefrac > f)
leavefrac = f;
}
// 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->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+ if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
{
- trace->fraction = bound(0, enterfrac, 1);
- VectorCopy(newimpactnormal, trace->plane.normal);
+#if 0
+ // broken
+ if (thatbrush_start->ispolygon)
+ {
+ 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)
+ {
+ 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);
+ }
+ }
+ 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)
+{
+ int nplane;
+ const colplanef_t *plane;
+
+ for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
+ if (DotProduct(plane->normal, point) > plane->dist)
+ return;
+
+ trace->startsupercontents |= thatbrush->supercontents;
+ if (trace->hitsupercontentsmask & thatbrush->supercontents)
+ {
+ trace->startsolid = true;
+ trace->allsolid = true;
}
}
+static colpointf_t polyf_points[256];
static colplanef_t polyf_planes[256 + 2];
static colbrushf_t polyf_brush;
-void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points)
+void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
+{
+ while (numpoints--)
+ {
+ 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;
+ }
+}
+
+void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
{
if (numpoints > 256)
{
- Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
+ Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
return;
}
polyf_brush.numpoints = numpoints;
polyf_brush.numplanes = numpoints + 2;
- polyf_brush.points = (colpointf_t *)points;
+ //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)
+ {
+ 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))
+ {
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+ //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+ Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_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)
+ {
+ Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
+ return;
+ }
+ 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)
+{
+ 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)
+ {
+ 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))
+ {
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+ //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+ Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
+ }
+ }
+#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)
+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)
{
- Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
+ Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
return;
}
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);
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)
{
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;
}
}
colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
{
- int i;
+ int i, j;
vec3_t v;
colbrushf_t *brush;
if (brushforbox_brush[0].numpoints == 0)
Collision_InitBrushForBox();
- brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
- // FIXME: optimize
- for (i = 0;i < 8;i++)
+ if (VectorCompare(mins, maxs))
{
- 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);
+ // point brush
+ brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
+ VectorCopy(mins, brush->points->v);
}
- // FIXME: optimize!
- for (i = 0;i < 6;i++)
+ 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!
+ 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);
+ }
+ }
+ 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++)
{
- VectorClear(v);
- v[i >> 1] = i & 1 ? 1 : -1;
- Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
- VectorNormalize(brush->planes[i].normal);
- brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
+ 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;
}
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);
}
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)
+{
+ float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
+
+ // this code is designed for clockwise triangles, conversion to
+ // counterclockwise would require swapping some things around...
+ // it is easier to simply swap the point0 and point2 parameters to this
+ // function when calling it than it is to rewire the internals.
+
+ // calculate the faceplanenormal of the triangle, this represents the front side
+ TriangleNormal(point0, point1, point2, faceplanenormal);
+ // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
+ if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
+ return;
+ // normalize the normal
+ VectorNormalize(faceplanenormal);
+ // calculate the distance
+ faceplanedist = DotProduct(point0, faceplanenormal);
+
+ // calculate the start distance
+ d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
+ // if start point is on the back side there is no collision
+ // (we don't care about traces going through the triangle the wrong way)
+ if (d1 < 0)
+ return;
+
+ // calculate the end distance
+ d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
+ // if both are in front, there is no collision
+ if (d2 >= 0)
+ return;
+
+ // from here on we know d1 is >= 0 and d2 is < 0
+ // this means the line starts infront and ends behind, passing through it
+
+ // calculate the recipricol of the distance delta,
+ // so we can use it multiple times cheaply (instead of division)
+ d = 1.0f / (d1 - d2);
+ // calculate the impact fraction by taking the start distance (> 0)
+ // and subtracting the face plane distance (this is the distance of the
+ // triangle along that same normal)
+ // then multiply by the recipricol distance delta
+ f = d1 * d;
+ // skip out if this impact is further away than previous ones
+ if (f > trace->realfraction)
+ return;
+ // calculate the perfect impact point for classification of insidedness
+ impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
+ impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
+ impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
+
+ // calculate the edge normal and reject if impact is outside triangle
+ // (an edge normal faces away from the triangle, to get the desired normal
+ // a crossproduct with the faceplanenormal is used, and because of the way
+ // the insidedness comparison is written it does not need to be normalized)
+
+ VectorSubtract(point2, point0, edge);
+ CrossProduct(edge, faceplanenormal, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
+ return;
+
+ VectorSubtract(point0, point1, edge);
+ CrossProduct(edge, faceplanenormal, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
+ return;
+
+ VectorSubtract(point1, point2, edge);
+ CrossProduct(edge, faceplanenormal, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
+ return;
+
+ // store the new trace fraction
+ trace->realfraction = bound(0, f, 1);
+
+ // calculate a nudged fraction to keep it out of the surface
+ // (the main fraction remains perfect)
+ fnudged = (d1 - collision_impactnudge.value) * d;
+ trace->fraction = bound(0, fnudged, 1);
+
+ // store the new trace endpos
+ // not needed, it's calculated later when the trace is finished
+ //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]);
+
+ // store the new trace plane (because collisions only happen from
+ // the front this is always simply the triangle normal, never flipped)
+ VectorCopy(faceplanenormal, trace->plane.normal);
+ trace->plane.dist = faceplanedist;
+}
+
+typedef struct colbspnode_s
+{
+ mplane_t plane;
+ struct colbspnode_s *children[2];
+ // the node is reallocated or split if max is reached
+ int numcolbrushf;
+ int maxcolbrushf;
+ colbrushf_t **colbrushflist;
+ //int numcolbrushd;
+ //int maxcolbrushd;
+ //colbrushd_t **colbrushdlist;
+}
+colbspnode_t;
+
+typedef struct colbsp_s
+{
+ mempool_t *mempool;
+ colbspnode_t *nodes;
+}
+colbsp_t;
+
+colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
+{
+ colbsp_t *bsp;
+ bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
+ bsp->mempool = mempool;
+ bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
+ return bsp;
+}
+
+void Collision_FreeCollisionBSPNode(colbspnode_t *node)
+{
+ if (node->children[0])
+ Collision_FreeCollisionBSPNode(node->children[0]);
+ if (node->children[1])
+ Collision_FreeCollisionBSPNode(node->children[1]);
+ while (--node->numcolbrushf)
+ Mem_Free(node->colbrushflist[node->numcolbrushf]);
+ //while (--node->numcolbrushd)
+ // Mem_Free(node->colbrushdlist[node->numcolbrushd]);
+ Mem_Free(node);
+}
+
+void Collision_FreeCollisionBSP(colbsp_t *bsp)
+{
+ Collision_FreeCollisionBSPNode(bsp->nodes);
+ Mem_Free(bsp);
+}
+
+void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
+{
+ int i;
+ colpointf_t *ps, *pe;
+ float tempstart[3], tempend[3];
+ VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
+ VectorCopy(mins, maxs);
+ for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
+ {
+ VectorLerp(ps->v, startfrac, pe->v, tempstart);
+ VectorLerp(ps->v, endfrac, pe->v, tempend);
+ mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
+ mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
+ mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
+ maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
+ maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
+ maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
+ }
+ mins[0] -= 1;
+ mins[1] -= 1;
+ mins[2] -= 1;
+ maxs[0] += 1;
+ maxs[1] += 1;
+ maxs[2] += 1;
+}
+