X-Git-Url: http://de.git.xonotic.org/?a=blobdiff_plain;f=collision.c;h=1c4a4fe6b323149fe10be628f71c5b312c99c416;hb=0db6270f9fdf1da680391fe0389d7ad6cfc48517;hp=168ca70a86e366384f8fe7c636137c9384e950b0;hpb=2fa6c1c686a631ca835285d9f01eddf0dd58de85;p=xonotic%2Fdarkplaces.git

diff --git a/collision.c b/collision.c
index 168ca70a..1c4a4fe6 100644
--- a/collision.c
+++ b/collision.c
@@ -1,5 +1,6 @@
 
 #include "quakedef.h"
+#include "winding.h"
 
 typedef struct
 {
@@ -15,6 +16,9 @@ typedef struct
 
 	// end - start
 	double dist[3];
+
+	// overrides the CONTENTS_SOLID in the box bsp tree
+	int boxsupercontents;
 }
 RecursiveHullCheckTraceInfo_t;
 
@@ -25,7 +29,7 @@ RecursiveHullCheckTraceInfo_t;
 #define HULLCHECKSTATE_SOLID 1
 #define HULLCHECKSTATE_DONE 2
 
-static int RecursiveHullCheck (RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
+static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
 {
 	// status variables, these don't need to be saved on the stack when
 	// recursing...  but are because this should be thread-safe
@@ -44,37 +48,26 @@ loc0:
 	// check for empty
 	if (num < 0)
 	{
-		t->trace->endcontents = num;
-		if (t->trace->startcontents)
+		// translate the fake CONTENTS values in the box bsp tree
+		if (num == CONTENTS_SOLID)
+			num = t->boxsupercontents;
+		else
+			num = 0;
+		if (!t->trace->startfound)
 		{
-			if (num == t->trace->startcontents)
-				t->trace->allsolid = false;
-			else
-			{
-				// if the first leaf is solid, set startsolid
-				if (t->trace->allsolid)
-					t->trace->startsolid = true;
-				return HULLCHECKSTATE_SOLID;
-			}
-			return HULLCHECKSTATE_EMPTY;
+			t->trace->startfound = true;
+			t->trace->startsupercontents |= num;
+		}
+		if (num & t->trace->hitsupercontentsmask)
+		{
+			// if the first leaf is solid, set startsolid
+			if (t->trace->allsolid)
+				t->trace->startsolid = true;
+			return HULLCHECKSTATE_SOLID;
 		}
 		else
 		{
-			if (num != CONTENTS_SOLID)
-			{
-				t->trace->allsolid = false;
-				if (num == CONTENTS_EMPTY)
-					t->trace->inopen = true;
-				else
-					t->trace->inwater = true;
-			}
-			else
-			{
-				// if the first leaf is solid, set startsolid
-				if (t->trace->allsolid)
-					t->trace->startsolid = true;
-				return HULLCHECKSTATE_SOLID;
-			}
+			t->trace->allsolid = false;
 			return HULLCHECKSTATE_EMPTY;
 		}
 	}
@@ -165,6 +158,7 @@ loc0:
 	return HULLCHECKSTATE_DONE;
 }
 
+#if 0
 // used if start and end are the same
 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 {
@@ -174,9 +168,9 @@ static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 
 	// check for empty
 	t->trace->endcontents = num;
-	if (t->trace->startcontents)
+	if (t->trace->thiscontents)
 	{
-		if (num == t->trace->startcontents)
+		if (num == t->trace->thiscontents)
 			t->trace->allsolid = false;
 		else
 		{
@@ -203,39 +197,7 @@ static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 		}
 	}
 }
-
-void Collision_RoundUpToHullSize(const model_t *cmodel, const vec3_t inmins, const vec3_t inmaxs, vec3_t outmins, vec3_t outmaxs)
-{
-	vec3_t size;
-	const hull_t *hull;
-
-	VectorSubtract(inmaxs, inmins, size);
-	if (cmodel->brushq1.ishlbsp)
-	{
-		if (size[0] < 3)
-			hull = &cmodel->brushq1.hulls[0]; // 0x0x0
-		else if (size[0] <= 32)
-		{
-			if (size[2] < 54) // pick the nearest of 36 or 72
-				hull = &cmodel->brushq1.hulls[3]; // 32x32x36
-			else
-				hull = &cmodel->brushq1.hulls[1]; // 32x32x72
-		}
-		else
-			hull = &cmodel->brushq1.hulls[2]; // 64x64x64
-	}
-	else
-	{
-		if (size[0] < 3)
-			hull = &cmodel->brushq1.hulls[0]; // 0x0x0
-		else if (size[0] <= 32)
-			hull = &cmodel->brushq1.hulls[1]; // 32x32x56
-		else
-			hull = &cmodel->brushq1.hulls[2]; // 64x64x88
-	}
-	VectorCopy(inmins, outmins);
-	VectorAdd(inmins, hull->clip_size, outmaxs);
-}
+#endif
 
 static hull_t box_hull;
 static dclipnode_t box_clipnodes[6];
@@ -271,305 +233,447 @@ void Collision_Init (void)
 	}
 }
 
-
-static hull_t *HullForBBoxEntity (const vec3_t corigin, const vec3_t cmins, const vec3_t cmaxs, const vec3_t mins, const vec3_t maxs, vec3_t offset)
+void Collision_ClipTrace_Box(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int boxsupercontents)
 {
-	vec3_t hullmins, hullmaxs;
-
-	// create a temp hull from bounding box sizes
-	VectorCopy (corigin, offset);
-	VectorSubtract (cmins, maxs, hullmins);
-	VectorSubtract (cmaxs, mins, hullmaxs);
-
+	RecursiveHullCheckTraceInfo_t rhc;
+	// fill in a default trace
+	memset(&rhc, 0, sizeof(rhc));
+	memset(trace, 0, sizeof(trace_t));
 	//To keep everything totally uniform, bounding boxes are turned into small
 	//BSP trees instead of being compared directly.
-	box_planes[0].dist = hullmaxs[0];
-	box_planes[1].dist = hullmins[0];
-	box_planes[2].dist = hullmaxs[1];
-	box_planes[3].dist = hullmins[1];
-	box_planes[4].dist = hullmaxs[2];
-	box_planes[5].dist = hullmins[2];
-	return &box_hull;
+	// create a temp hull from bounding box sizes
+	box_planes[0].dist = cmaxs[0] - mins[0];
+	box_planes[1].dist = cmins[0] - maxs[0];
+	box_planes[2].dist = cmaxs[1] - mins[1];
+	box_planes[3].dist = cmins[1] - maxs[1];
+	box_planes[4].dist = cmaxs[2] - mins[2];
+	box_planes[5].dist = cmins[2] - maxs[2];
+	// trace a line through the generated clipping hull
+	rhc.boxsupercontents = boxsupercontents;
+	rhc.hull = &box_hull;
+	rhc.trace = trace;
+	rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
+	rhc.trace->fraction = 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);
 }
 
-static const hull_t *HullForBrushModel (const model_t *cmodel, const vec3_t corigin, const vec3_t mins, const vec3_t maxs, vec3_t offset)
-{
-	vec3_t size;
-	const hull_t *hull;
 
-	// decide which clipping hull to use, based on the size
-	// explicit hulls in the BSP model
-	VectorSubtract (maxs, mins, size);
-	// LordHavoc: FIXME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
-	if (cmodel->brushq1.ishlbsp)
-	{
-		if (size[0] < 3)
-			hull = &cmodel->brushq1.hulls[0]; // 0x0x0
-		else if (size[0] <= 32)
-		{
-			if (size[2] < 54) // pick the nearest of 36 or 72
-				hull = &cmodel->brushq1.hulls[3]; // 32x32x36
-			else
-				hull = &cmodel->brushq1.hulls[1]; // 32x32x72
-		}
-		else
-			hull = &cmodel->brushq1.hulls[2]; // 64x64x64
-	}
-	else
-	{
-		if (size[0] < 3)
-			hull = &cmodel->brushq1.hulls[0]; // 0x0x0
-		else if (size[0] <= 32)
-			hull = &cmodel->brushq1.hulls[1]; // 32x32x56
-		else
-			hull = &cmodel->brushq1.hulls[2]; // 64x64x88
-	}
 
-	// calculate an offset value to center the origin
-	VectorSubtract (hull->clip_mins, mins, offset);
-	VectorAdd (offset, corigin, offset);
 
-	return hull;
-}
 
-void Collision_ClipTrace (trace_t *trace, const void *cent, const model_t *cmodel, const vec3_t corigin, const vec3_t cangles, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end)
-{
-	RecursiveHullCheckTraceInfo_t rhc;
-	vec3_t offset, forward, left, up;
-	double startd[3], endd[3], tempd[3];
 
-	// fill in a default trace
-	memset (&rhc, 0, sizeof(rhc));
-	memset (trace, 0, sizeof(trace_t));
 
-	rhc.trace = trace;
 
-	rhc.trace->fraction = 1;
-	rhc.trace->allsolid = true;
 
-	if (cmodel && cmodel->type == mod_brush)
-	{
-		// brush model
 
-		// get the clipping hull
-		rhc.hull = HullForBrushModel (cmodel, corigin, mins, maxs, offset);
 
-		VectorSubtract(start, offset, startd);
-		VectorSubtract(end, offset, endd);
 
-		// rotate start and end into the model's frame of reference
-		if (cangles[0] || cangles[1] || cangles[2])
-		{
-			AngleVectorsFLU (cangles, forward, left, up);
-			VectorCopy(startd, tempd);
-			startd[0] = DotProduct (tempd, forward);
-			startd[1] = DotProduct (tempd, left);
-			startd[2] = DotProduct (tempd, up);
-			VectorCopy(endd, tempd);
-			endd[0] = DotProduct (tempd, forward);
-			endd[1] = DotProduct (tempd, left);
-			endd[2] = DotProduct (tempd, up);
-		}
 
-		// trace a line through the appropriate clipping hull
-		VectorCopy(startd, rhc.start);
-		VectorCopy(endd, rhc.end);
-		VectorCopy(rhc.end, rhc.trace->endpos);
-		VectorSubtract(rhc.end, rhc.start, rhc.dist);
-		if (rhc.dist[0] || rhc.dist[1] || rhc.dist[2])
-			RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
-		else
-			RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
-		if (rhc.trace->fraction < 0 || rhc.trace->fraction > 1) Con_Printf("fraction out of bounds %f %s:%d\n", rhc.trace->fraction, __FILE__, __LINE__);
 
-		// if we hit, unrotate endpos and normal, and store the entity we hit
-		if (rhc.trace->fraction != 1)
+
+void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
+{
+	int i;
+	Con_Printf("3 %s\n%i\n", name, brush->numpoints);
+	for (i = 0;i < brush->numpoints;i++)
+		Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
+	// FIXME: optimize!
+	Con_Printf("4\n%i\n", brush->numplanes);
+	for (i = 0;i < brush->numplanes;i++)
+		Con_Printf("%f %f %f %f\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
+}
+
+void Collision_ValidateBrush(colbrushf_t *brush)
+{
+	int j, k, pointsoffplanes, printbrush;
+	float d;
+	printbrush = false;
+	if (!brush->numpoints)
+	{
+		Con_Printf("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");
+		printbrush = true;
+	}
+#endif
+	if (brush->numplanes)
+	{
+		pointsoffplanes = 0;
+		for (k = 0;k < brush->numplanes;k++)
 		{
-			// rotate endpos back to world frame of reference
-			if (cangles[0] || cangles[1] || cangles[2])
+			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++)
 			{
-				VectorNegate (cangles, offset);
-				AngleVectorsFLU (offset, forward, left, up);
-
-				VectorCopy (rhc.trace->endpos, tempd);
-				rhc.trace->endpos[0] = DotProduct (tempd, forward);
-				rhc.trace->endpos[1] = DotProduct (tempd, left);
-				rhc.trace->endpos[2] = DotProduct (tempd, up);
-
-				VectorCopy (rhc.trace->plane.normal, tempd);
-				rhc.trace->plane.normal[0] = DotProduct (tempd, forward);
-				rhc.trace->plane.normal[1] = DotProduct (tempd, left);
-				rhc.trace->plane.normal[2] = DotProduct (tempd, up);
+				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) > 0.01f)
+					pointsoffplanes++;
 			}
-			rhc.trace->ent = (void *) cent;
 		}
-		else if (rhc.trace->allsolid || rhc.trace->startsolid)
-			rhc.trace->ent = (void *) cent;
-		// fix offset
-		VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
-	}
-	else
-	{
-		// bounding box
-
-		rhc.hull = HullForBBoxEntity (corigin, cmins, cmaxs, mins, maxs, offset);
-
-		// trace a line through the generated clipping hull
-		VectorSubtract(start, offset, rhc.start);
-		VectorSubtract(end, offset, rhc.end);
-		VectorCopy(rhc.end, rhc.trace->endpos);
-		VectorSubtract(rhc.end, rhc.start, rhc.dist);
-		if (rhc.dist[0] || rhc.dist[1] || rhc.dist[2])
-			RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
-		else
-			RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
-		if (rhc.trace->fraction < 0 || rhc.trace->fraction > 1) Con_Printf("fraction out of bounds %f %s:%d\n", rhc.trace->fraction, __FILE__, __LINE__);
-
-		// if we hit, store the entity we hit
-		if (rhc.trace->fraction != 1)
+		if (pointsoffplanes == 0) // all points are on all planes
 		{
-			// fix offset
-			VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
-			rhc.trace->ent = (void *) cent;
+			Con_Printf("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
+			printbrush = true;
 		}
-		else if (rhc.trace->allsolid || rhc.trace->startsolid)
-			rhc.trace->ent = (void *) cent;
 	}
+	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;
+	colbrushf_t *brush;
+	colpointf_t pointsbuf[256];
+	colplanef_t planesbuf[256];
+	int elementsbuf[1024];
+	int polypointbuf[256];
+	float mins[3], maxs[3];
+	// 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++)
+			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)
+			continue;
+		// check if there are too many and skip the brush
+		if (numplanes >= 256)
+		{
+			Con_Printf("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);
+		// clip it by all other planes
+		for (k = 0;k < numoriginalplanes && w;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);
+			}
+		}
+		// if nothing is left, skip it
+		if (!w)
+			continue;
 
+		// copy off the number of points for later when the winding is freed
+		numpolypoints = w->numpoints;
 
+		// check if there are too many polygon vertices for buffer
+		if (numpolypoints > maxpolypoints)
+		{
+			Con_Printf("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)
+		{
+			Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
+			return NULL;
+		}
 
+		for (k = 0;k < w->numpoints;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)
+					break;
 
+			// if there is no match, add a new one
+			if (m == numpoints)
+			{
+				// check if there are too many and skip the brush
+				if (numpoints >= 256)
+				{
+					Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
+					Winding_Free(w);
+					return NULL;
+				}
+				// add the new one
+				VectorCopy(w->points[k], pointsbuf[numpoints].v);
+				numpoints++;
+			}
 
+			// 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++)
+		{
+			numtriangles++;
+			elementsbuf[numelements++] = polypointbuf[0];
+			elementsbuf[numelements++] = polypointbuf[k + 1];
+			elementsbuf[numelements++] = polypointbuf[k + 2];
+		}
 
+		// add the new plane
+		VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
+		planesbuf[numplanes].dist = originalplanes[j].dist;
+		numplanes++;
+	}
 
+	// recalc distances
+	for (j = 0;j < numplanes;j++)
+		planesbuf[j].dist = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpoints);
 
+	if (numpoints)
+	{
+		VectorCopy(pointsbuf[0].v, mins);
+		VectorCopy(pointsbuf[0].v, maxs);
+		for (j = 1;j < numpoints;j++)
+		{
+			mins[0] = min(mins[0], pointsbuf[j].v[0]);
+			mins[1] = min(mins[1], pointsbuf[j].v[1]);
+			mins[2] = min(mins[2], pointsbuf[j].v[2]);
+			maxs[0] = max(maxs[0], pointsbuf[j].v[0]);
+			maxs[1] = max(maxs[1], pointsbuf[j].v[1]);
+			maxs[2] = max(maxs[2], pointsbuf[j].v[2]);
+		}
+	}
 
-void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
-{
-	int i;
-	Con_Printf("3 %s\n%i\n", name, brush->numpoints);
-	for (i = 0;i < brush->numpoints;i++)
-		Con_Printf("%g %g %g\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
-	// FIXME: optimize!
-	Con_Printf("4\n%i\n", brush->numplanes);
-	for (i = 0;i < brush->numplanes;i++)
-		Con_Printf("%g %g %g %g\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
+	// if nothing is left, there's nothing to allocate
+	if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
+		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]));
+	VectorCopy(mins, brush->mins);
+	VectorCopy(maxs, brush->maxs);
+	Collision_ValidateBrush(brush);
+	return brush;
 }
 
 
-colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes)
+
+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);
-	brush->numpoints = numpoints;
+	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;
-	float edge0[3], edge1[3], normal[3], dist, bestdist;
+	float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
 	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);
+			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);
+			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
+				//VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
+				//VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
+				CrossProduct(edge1, edge0, 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 (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]);
+				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)
+colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 {
 	colbrushf_t *brush;
 	brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
+	brush->supercontents = supercontents;
 	brush->numpoints = numpoints;
 	brush->numplanes = numpoints + 2;
 	brush->planes = (void *)(brush + 1);
 	brush->points = (colpointf_t *)points;
+	Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
 	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);
-		if (bestdist > dist)
-			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);
-		if (bestdist < dist)
-			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
-float Collision_TraceBrushBrushFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end, float *impactnormal, int *startsolid, int *allsolid)
+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;
+	int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
 	float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 	const colplanef_t *startplane, *endplane;
 
@@ -586,14 +690,40 @@ float Collision_TraceBrushBrushFloat(const colbrushf_t *thisbrush_start, const c
 			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_Printf("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
+					return;
+				}
+				f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
+				if (fabs(f - startplane->dist) > 0.01f)
+					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);
+			d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
 		}
 		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_Printf("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
+					return;
+				}
+				f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
+				if (fabs(f - startplane->dist) > 0.01f)
+					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;
+			d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - startplane->dist - COLLISIONEPSILON2;
 		}
-		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;
@@ -601,7 +731,7 @@ float Collision_TraceBrushBrushFloat(const colbrushf_t *thisbrush_start, const c
 		{
 			// moving into brush
 			if (d2 > 0)
-				return 1;
+				return;
 			if (d1 < 0)
 				continue;
 			// enter
@@ -611,14 +741,14 @@ float Collision_TraceBrushBrushFloat(const colbrushf_t *thisbrush_start, const c
 			if (enterfrac < f)
 			{
 				enterfrac = f;
-				VectorBlend(startplane->normal, endplane->normal, enterfrac, newimpactnormal);
+				VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 			}
 		}
-		else if (f < 0)
+		else
 		{
 			// moving out of brush
 			if (d1 > 0)
-				return 1;
+				return;
 			if (d2 < 0)
 				continue;
 			// leave
@@ -630,264 +760,103 @@ float Collision_TraceBrushBrushFloat(const colbrushf_t *thisbrush_start, const c
 		}
 	}
 
+	brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 	if (fstartsolid)
 	{
-		if (startsolid)
-			*startsolid = true;
-		if (fendsolid && allsolid)
-			*allsolid = true;
+		trace->startsupercontents |= thatbrush_start->supercontents;
+		if (brushsolid)
+		{
+			trace->startsolid = true;
+			if (fendsolid)
+				trace->allsolid = true;
+		}
 	}
 
 	// 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 (enterfrac > -1 && enterfrac < 1 && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+	if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 	{
-		//if (enterfrac < (1.0f / 1024.0f))
-		//	enterfrac = 0;
-		enterfrac = bound(0, enterfrac, 1);
-		VectorCopy(newimpactnormal, impactnormal);
-		return enterfrac;
+		trace->fraction = bound(0, enterfrac, 1);
+		VectorCopy(newimpactnormal, trace->plane.normal);
 	}
-	return 1;
 }
 
-static colplanef_t polyf_planes[256 + 2];
-static colbrushf_t polyf_brush;
-
-float Collision_TraceBrushPolygonFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, float *impactnormal, int *startsolid, int *allsolid)
+// 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)
 {
-	if (numpoints > 256)
-	{
-		Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
-		return 1;
-	}
-	polyf_brush.numpoints = numpoints;
-	polyf_brush.numplanes = numpoints + 2;
-	polyf_brush.points = (colpointf_t *)points;
-	polyf_brush.planes = polyf_planes;
-	Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
-	//Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
-	return Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush, impactnormal, startsolid, allsolid);
-}
-
-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;
-
-float Collision_TraceBrushPolygonTransformFloat(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, float *impactnormal, const matrix4x4_t *polygonmatrixstart, const matrix4x4_t *polygonmatrixend, int *startsolid, int *allsolid)
-{
-	int i;
-	if (numpoints > 256)
-	{
-		Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
-		return 1;
-	}
-	polyf_brushstart.numpoints = numpoints;
-	polyf_brushstart.numplanes = numpoints + 2;
-	polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
-	polyf_brushstart.planes = polyf_planesstart;
-	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;
-	for (i = 0;i < numpoints;i++)
-		Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
-	Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
-	Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
-
-	//Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
-	//Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
-
-	return Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend, impactnormal, startsolid, allsolid);
-}
-
-colbrushd_t *Collision_AllocBrushDouble(mempool_t *mempool, int numpoints, int numplanes)
-{
-	colbrushd_t *brush;
-	brush = Mem_Alloc(mempool, sizeof(colbrushd_t) + sizeof(colpointd_t) * numpoints + sizeof(colplaned_t) * numplanes);
-	brush->numpoints = numpoints;
-	brush->numplanes = numplanes;
-	brush->planes = (void *)(brush + 1);
-	brush->points = (void *)(brush->planes + brush->numplanes);
-	return brush;
-}
-
-void Collision_CalcPlanesForPolygonBrushDouble(colbrushd_t *brush)
-{
-	int i;
-	double edge0[3], edge1[3], normal[3], dist, bestdist;
-	colpointd_t *p, *p2;
-
-	// choose best surface normal for polygon's plane
-	bestdist = 0;
-	for (i = 2, p = brush->points + 2;i < brush->numpoints;i++, p++)
-	{
-		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 == 2 || bestdist < dist)
-		{
-			bestdist = dist;
-			VectorCopy(normal, brush->planes->normal);
-		}
-	}
-
-	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 + 2;i < brush->numpoints;i++, p = p2, p2++)
-	{
-		VectorSubtract(p->v, p2->v, edge0);
-		CrossProduct(edge0, brush->planes->normal, brush->planes[i].normal);
-		VectorNormalize(brush->planes[i].normal);
-		brush->planes[i].dist = DotProduct(p->v, brush->planes[i].normal);
-	}
-
-#if 1
-	// validity check - will be disabled later
-	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");
-	}
-#endif
-}
-
-colbrushd_t *Collision_AllocBrushFromPermanentPolygonDouble(mempool_t *mempool, int numpoints, double *points)
-{
-	colbrushd_t *brush;
-	brush = Mem_Alloc(mempool, sizeof(colbrushd_t) + sizeof(colplaned_t) * (numpoints + 2));
-	brush->numpoints = numpoints;
-	brush->numplanes = numpoints + 2;
-	brush->planes = (void *)(brush + 1);
-	brush->points = (colpointd_t *)points;
-	return brush;
-}
-
-
-double nearestplanedist_double(const double *normal, const colpointd_t *points, int numpoints)
-{
-	double dist, bestdist;
-	bestdist = DotProduct(points->v, normal);
-	points++;
-	while(--numpoints)
-	{
-		dist = DotProduct(points->v, normal);
-		if (bestdist > dist)
-			bestdist = dist;
-		points++;
-	}
-	return bestdist;
-}
-
-double furthestplanedist_double(const double *normal, const colpointd_t *points, int numpoints)
-{
-	double dist, bestdist;
-	bestdist = DotProduct(points->v, normal);
-	points++;
-	while(--numpoints)
-	{
-		dist = DotProduct(points->v, normal);
-		if (bestdist < dist)
-			bestdist = dist;
-		points++;
-	}
-	return bestdist;
-}
-
-// NOTE: start and end of each brush pair must have same numplanes/numpoints
-double Collision_TraceBrushBrushDouble(const colbrushd_t *thisbrush_start, const colbrushd_t *thisbrush_end, const colbrushd_t *thatbrush_start, const colbrushd_t *thatbrush_end, double *impactnormal)
-{
-	int nplane;
-	double enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
-	const colplaned_t *startplane, *endplane;
+	int nplane, fstartsolid, fendsolid, brushsolid;
+	float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
+	const colplanef_t *startplane, *endplane;
 
 	enterfrac = -1;
 	leavefrac = 1;
+	fstartsolid = true;
+	fendsolid = true;
 
 	for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 	{
 		startplane = thatbrush_start->planes + nplane;
 		endplane = thatbrush_end->planes + nplane;
-		d1 = nearestplanedist_double(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_double(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
-		d2 = nearestplanedist_double(endplane->normal, thisbrush_end->points, thisbrush_start->numpoints) - furthestplanedist_double(endplane->normal, thatbrush_end->points, thatbrush_start->numpoints) - (1.0 / 32.0);
+		d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
+		d2 = DotProduct(endplane->normal, lineend) - endplane->dist - COLLISIONEPSILON2;
+		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_Printf("Collision_TraceLineBrushFloat: degenerate plane!\n");
+				return;
+			}
+			f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
+			if (fabs(f - startplane->dist) > 0.01f)
+				Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
+		}
 
 		f = d1 - d2;
 		if (f >= 0)
 		{
 			// moving into brush
 			if (d2 > 0)
-				return 1;
+				return;
 			if (d1 < 0)
 				continue;
 			// enter
-			f = d1 / f;
+			fstartsolid = false;
+			f = (d1 - COLLISIONEPSILON) / f;
+			f = bound(0, f, 1);
 			if (enterfrac < f)
 			{
 				enterfrac = f;
-				VectorSubtract(endplane->normal, startplane->normal, newimpactnormal);
-				VectorMA(startplane->normal, enterfrac, impactnormal, newimpactnormal);
+				VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 			}
 		}
 		else
 		{
 			// moving out of brush
 			if (d1 > 0)
-				return 1;
+				return;
 			if (d2 < 0)
 				continue;
 			// leave
-			f = d1 / f;
+			fendsolid = false;
+			f = (d1 + COLLISIONEPSILON) / f;
+			f = bound(0, f, 1);
 			if (leavefrac > f)
 				leavefrac = f;
 		}
 	}
 
-	for (nplane = 0;nplane < thisbrush_start->numplanes;nplane++)
+	brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
+	if (fstartsolid)
 	{
-		startplane = thisbrush_start->planes + nplane;
-		endplane = thisbrush_end->planes + nplane;
-		d1 = nearestplanedist_double(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_double(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
-		d2 = nearestplanedist_double(endplane->normal, thisbrush_end->points, thisbrush_start->numpoints) - furthestplanedist_double(endplane->normal, thatbrush_end->points, thatbrush_start->numpoints) - (1.0 / 32.0);
-
-		f = d1 - d2;
-		if (f >= 0)
+		trace->startsupercontents |= thatbrush_start->supercontents;
+		if (brushsolid)
 		{
-			// moving into brush
-			if (d2 > 0)
-				return 1;
-			if (d1 < 0)
-				continue;
-			// enter
-			f = d1 / f;
-			if (enterfrac < f)
-			{
-				enterfrac = f;
-				VectorSubtract(endplane->normal, startplane->normal, newimpactnormal);
-				VectorMA(startplane->normal, enterfrac, impactnormal, newimpactnormal);
-			}
-		}
-		else
-		{
-			// moving out of brush
-			if (d1 > 0)
-				return 1;
-			if (d2 < 0)
-				continue;
-			// leave
-			f = d1 / f;
-			if (leavefrac > f)
-				leavefrac = f;
+			trace->startsolid = true;
+			if (fendsolid)
+				trace->allsolid = true;
 		}
 	}
 
@@ -895,156 +864,143 @@ double Collision_TraceBrushBrushDouble(const colbrushd_t *thisbrush_start, const
 	// 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.
-	enterfrac -= (1.0 / 16384.0);
-	if (leavefrac - enterfrac >= 0 && enterfrac > -1)
+	if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 	{
-		VectorCopy(newimpactnormal, impactnormal);
-		enterfrac = bound(0, enterfrac, 1);
-		return enterfrac;
+		trace->fraction = bound(0, enterfrac, 1);
+		VectorCopy(newimpactnormal, trace->plane.normal);
 	}
-	return 1;
 }
 
-static colplaned_t polyd_planes[256 + 2];
-static colbrushd_t polyd_brush;
-double Collision_TraceBrushPolygonDouble(const colbrushd_t *thisbrush_start, const colbrushd_t *thisbrush_end, int numpoints, const double *points, double *impactnormal)
+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, int supercontents)
 {
 	if (numpoints > 256)
 	{
 		Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
-		return 1;
+		return;
 	}
-	polyd_brush.numpoints = numpoints;
-	polyd_brush.numplanes = numpoints + 2;
-	polyd_brush.points = (colpointd_t *)points;
-	polyd_brush.planes = polyd_planes;
-	Collision_CalcPlanesForPolygonBrushDouble(&polyd_brush);
-	return Collision_TraceBrushBrushDouble(thisbrush_start, thisbrush_end, &polyd_brush, &polyd_brush, impactnormal);
+	polyf_brush.numpoints = numpoints;
+	polyf_brush.numplanes = numpoints + 2;
+	polyf_brush.points = (colpointf_t *)points;
+	polyf_brush.planes = polyf_planes;
+	polyf_brush.supercontents = supercontents;
+	Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+	//Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 }
 
-
-
-
-typedef struct colbrushbmodelinfo_s
+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)
 {
-	model_t *model;
-	const matrix4x4_t *modelmatrixstart;
-	const matrix4x4_t *modelmatrixend;
-	const colbrushf_t *thisbrush_start;
-	const colbrushf_t *thisbrush_end;
-	float impactnormal[3];
-	float tempimpactnormal[3];
-	float fraction;
-	int startsolid;
-	int allsolid;
+	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);
+		facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
+		facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
+		facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
+		facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
+		facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
+		facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
+		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);
+		}
+	}
 }
-colbrushbmodelinfo_t;
-
-static int colframecount = 1;
 
-void Collision_RecursiveTraceBrushNode(colbrushbmodelinfo_t *info, mnode_t *node)
+void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 {
-	if (node->contents)
+	if (numpoints > 256)
 	{
-		// collide with surfaces marked by this leaf
-		int i, *mark;
-		float result;
-		mleaf_t *leaf = (mleaf_t *)node;
-		msurface_t *surf;
-		for (i = 0, mark = leaf->firstmarksurface;i < leaf->nummarksurfaces;i++, mark++)
-		{
-			surf = info->model->brushq1.surfaces + *mark;
-			// don't check a surface twice
-			if (surf->colframe != colframecount)
-			{
-				surf->colframe = colframecount;
-				if (surf->flags & SURF_SOLIDCLIP)
-				{
-					result = Collision_TraceBrushPolygonFloat(info->thisbrush_start, info->thisbrush_end, surf->poly_numverts, surf->poly_verts, info->tempimpactnormal, &info->startsolid, &info->allsolid);
-					//result = Collision_TraceBrushPolygonTransformFloat(info->thisbrush_start, info->thisbrush_end, surf->poly_numverts, surf->poly_verts, info->tempimpactnormal, info->modelmatrixstart, info->modelmatrixend, &info->startsolid, &info->allsolid);
-					if (info->fraction > result)
-					{
-						info->fraction = result;
-						// use the surface's plane instead of the actual
-						// collision plane because the actual collision plane
-						// might be to the side (on a seam between polygons)
-						// or something, we want objects to bounce off the
-						// front...
-						//if (surf->flags & SURF_PLANEBACK)
-						//	VectorNegate(surf->plane->normal, info->impactnormal);
-						//else
-						//	VectorCopy(surf->plane->normal, info->impactnormal);
-						VectorCopy(info->tempimpactnormal, info->impactnormal);
-					}
-				}
-			}
-		}
+		Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
+		return;
 	}
-	else
+	polyf_brush.numpoints = numpoints;
+	polyf_brush.numplanes = numpoints + 2;
+	polyf_brush.points = (colpointf_t *)points;
+	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;
+	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)
 	{
-		// recurse down node sides
-		int i, bits;
-		float dist1, dist2;
-		colpointf_t *ps, *pe;
-		bits = 0;
-		// FIXME? if TraceBrushPolygonTransform were to be made usable, the
-		// node planes would need to be transformed too
-		dist1 = node->plane->dist - (1.0f / 8.0f);
-		dist2 = node->plane->dist + (1.0f / 8.0f);
-		for (i = 0, ps = info->thisbrush_start->points, pe = info->thisbrush_end->points;i < info->thisbrush_start->numpoints;i++, ps++, pe++)
+		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);
+		facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
+		facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
+		facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
+		facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
+		facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
+		facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
+		if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 		{
-			if (!(bits & 1) && (DotProduct(ps->v, node->plane->normal) > dist1 || DotProduct(pe->v, node->plane->normal) > dist1))
-				bits |= 1;
-			if (!(bits & 2) && (DotProduct(ps->v, node->plane->normal) < dist2 || DotProduct(pe->v, node->plane->normal) < dist2))
-				bits |= 2;
+			Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+			//Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+			Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 		}
-		if (bits & 1)
-			Collision_RecursiveTraceBrushNode(info, node->children[0]);
-		if (bits & 2)
-			Collision_RecursiveTraceBrushNode(info, node->children[1]);
 	}
 }
 
-float Collision_TraceBrushBModel(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, model_t *model, float *impactnormal, int *startsolid, int *allsolid)
-{
-	colbrushbmodelinfo_t info;
-	colframecount++;
-	info.model = model;
-	info.thisbrush_start = thisbrush_start;
-	info.thisbrush_end = thisbrush_end;
-	info.fraction = 1;
-	info.startsolid = false;
-	info.allsolid = false;
-	Collision_RecursiveTraceBrushNode(&info, model->brushq1.nodes + model->brushq1.hulls[0].firstclipnode);
-	if (info.fraction < 1)
-		VectorCopy(info.impactnormal, impactnormal);
-	if (startsolid)
-		*startsolid = info.startsolid;
-	if (allsolid)
-		*allsolid = info.allsolid;
-	return info.fraction;
-}
 
-float Collision_TraceBrushBModelTransform(const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, model_t *model, float *impactnormal, const matrix4x4_t *modelmatrixstart, const matrix4x4_t *modelmatrixend, int *startsolid, int *allsolid)
+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)
 {
-	colbrushbmodelinfo_t info;
-	colframecount++;
-	info.model = model;
-	info.modelmatrixstart = modelmatrixstart;
-	info.modelmatrixend = modelmatrixend;
-	info.thisbrush_start = thisbrush_start;
-	info.thisbrush_end = thisbrush_end;
-	info.fraction = 1;
-	info.startsolid = false;
-	info.allsolid = false;
-	Collision_RecursiveTraceBrushNode(&info, model->brushq1.nodes);
-	if (info.fraction < 1)
-		VectorCopy(info.impactnormal, impactnormal);
-	if (startsolid)
-		*startsolid = info.startsolid;
-	if (allsolid)
-		*allsolid = info.allsolid;
-	return info.fraction;
+	int i;
+	if (numpoints > 256)
+	{
+		Con_Printf("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_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);
 }
 
 
@@ -1054,16 +1010,23 @@ 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)
 {
 	int i;
 	for (i = 0;i < MAX_BRUSHFORBOX;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;
 	}
 }
 
@@ -1074,78 +1037,195 @@ colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins,
 	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
 	{
-		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 = 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);
+			brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
+		}
 	}
+	Collision_ValidateBrush(brush);
 	return brush;
 }
 
-void Collision_PolygonClipTrace (trace_t *trace, const void *cent, model_t *cmodel, const vec3_t corigin, const vec3_t cangles, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end)
+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)
 {
-	vec3_t impactnormal;
-	//vec3_t mins2, maxs2;
-	matrix4x4_t cmatrix, cimatrix, startmatrix, endmatrix;
-	matrix4x4_t mstartmatrix, mendmatrix, identitymatrix;
-	colbrushf_t *thisbrush_start, *thisbrush_end, *cbrush;
-
-	Matrix4x4_CreateFromQuakeEntity(&cmatrix, corigin[0], corigin[1], corigin[2], cangles[0], cangles[1], cangles[2], 1);
-	Matrix4x4_Invert_Simple(&cimatrix, &cmatrix);
-	Matrix4x4_CreateTranslate(&startmatrix, start[0], start[1], start[2]);
-	Matrix4x4_CreateTranslate(&endmatrix, end[0], end[1], end[2]);
-
+	colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
+	matrix4x4_t identitymatrix;
+	vec3_t startmins, startmaxs, endmins, endmaxs;
+
+	// create brushes for the collision
+	VectorAdd(start, mins, startmins);
+	VectorAdd(start, maxs, startmaxs);
+	VectorAdd(end, mins, endmins);
+	VectorAdd(end, maxs, endmaxs);
 	Matrix4x4_CreateIdentity(&identitymatrix);
-	Matrix4x4_Concat(&mstartmatrix, &cimatrix, &startmatrix);
-	Matrix4x4_Concat(&mendmatrix, &cimatrix, &endmatrix);
-	thisbrush_start = Collision_BrushForBox(&mstartmatrix, mins, maxs);
-	//mins2[0] = mins[0] - 0.0625;mins2[1] = mins[1] - 0.0625;mins2[2] = mins[2] - 0.0625;
-	//maxs2[0] = maxs[0] + 0.0625;maxs2[1] = maxs[1] + 0.0625;maxs2[2] = maxs[2] + 0.0625;
-	thisbrush_end = Collision_BrushForBox(&mendmatrix, mins, maxs);
-
-	//Collision_PrintBrushAsQHull(thisbrush_start, "thisbrush_start");
-	//Collision_PrintBrushAsQHull(thisbrush_end, "thisbrush_end");
-	memset (trace, 0, sizeof(trace_t));
-	if (cmodel && cmodel->type == mod_brush)
+	boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
+	thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
+	thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
+
+	memset(trace, 0, sizeof(trace_t));
+	trace->hitsupercontentsmask = hitsupercontentsmask;
+	trace->fraction = 1;
+	trace->allsolid = true;
+	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
+}
+
+// LordHavoc: currently unused and not yet 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)
+float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
+{
+	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;
+	// calculate line direction
+	dir[0] = lineend[0] - linestart[0];
+	dir[1] = lineend[1] - linestart[1];
+	dir[2] = lineend[2] - linestart[2];
+	// normalize direction
+	linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
+	if (linelength)
 	{
-		// brush model
-		trace->fraction = Collision_TraceBrushBModel(thisbrush_start, thisbrush_end, cmodel, impactnormal, &trace->startsolid, &trace->allsolid);
-		//trace->fraction = Collision_TraceBrushBModelTransform(thisbrush_start, thisbrush_end, cmodel, trace->plane.normal, &cmatrix, &cmatrix, &trace->startsolid, &trace->allsolid);
+		scale = 1.0 / linelength;
+		dir[0] *= scale;
+		dir[1] *= scale;
+		dir[2] *= scale;
 	}
-	else
+	// 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]);
+	// 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];
+	// 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 += (sqrt(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];
+	// 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];
+	// normalize impactnormal
+	scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
+	if (scale)
 	{
-		// bounding box
-		cbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
-		trace->fraction = Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, cbrush, cbrush, impactnormal, &trace->startsolid, &trace->allsolid);
-		//cbrush = Collision_BrushForBox(&cmatrix, cmins, cmaxs);
-		//trace->fraction = Collision_TraceBrushBrushFloat(thisbrush_start, thisbrush_end, cbrush, cbrush, trace->plane.normal, &trace->startsolid, &trace->allsolid);
+		scale = 1.0 / sqrt(scale);
+		impactnormal[0] *= scale;
+		impactnormal[1] *= scale;
+		impactnormal[2] *= scale;
 	}
+	// return fraction of movement distance
+	return impactdist / linelength;
+}
+
+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;
 
-	if (trace->fraction < 0 || trace->fraction > 1)
-		Con_Printf("fraction out of bounds %f %s:%d\n", trace->fraction, __FILE__, __LINE__);
+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);
+}
 
-	if (trace->fraction < 1)
+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++)
 	{
-		trace->ent = (void *) cent;
-		VectorBlend(start, end, trace->fraction, trace->endpos);
-		Matrix4x4_Transform(&cmatrix, impactnormal, trace->plane.normal);
-		VectorNormalize(trace->plane.normal);
-		//Con_Printf("fraction %f normal %f %f %f\n", trace->fraction, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2]);
+		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]));
 	}
-	else
-		VectorCopy(end, trace->endpos);
 }