X-Git-Url: http://de.git.xonotic.org/?a=blobdiff_plain;f=collision.c;h=1c4a4fe6b323149fe10be628f71c5b312c99c416;hb=0db6270f9fdf1da680391fe0389d7ad6cfc48517;hp=20e1e7670a24b85ac2c533fd99b6c7a4061595ec;hpb=eebd18fb1a1b617f7d8f454e4efbb80838331101;p=xonotic%2Fdarkplaces.git

diff --git a/collision.c b/collision.c
index 20e1e767..1c4a4fe6 100644
--- a/collision.c
+++ b/collision.c
@@ -289,32 +289,77 @@ void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
 
 void Collision_ValidateBrush(colbrushf_t *brush)
 {
-	int j, k;
+	int j, k, pointsoffplanes, printbrush;
+	float d;
+	printbrush = false;
 	if (!brush->numpoints)
 	{
 		Con_Printf("Collision_ValidateBrush: brush with no points!\n");
-		Collision_PrintBrushAsQHull(brush, "unnamed");
-		return;
+		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;
+		printbrush = true;
 	}
-	for (k = 0;k < brush->numplanes;k++)
+#endif
+	if (brush->numplanes)
 	{
-		for (j = 0;j < brush->numpoints;j++)
+		pointsoffplanes = 0;
+		for (k = 0;k < brush->numplanes;k++)
 		{
-			if (DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist > (1.0f / 8.0f))
+			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++)
 			{
-				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) > 0.01f)
+					pointsoffplanes++;
 			}
 		}
+		if (pointsoffplanes == 0) // all points are on all planes
+		{
+			Con_Printf("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;
 }
 
 
@@ -328,6 +373,7 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
 	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)
@@ -429,6 +475,25 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
 		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]);
+		}
+	}
+
 	// if nothing is left, there's nothing to allocate
 	if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
 		return NULL;
@@ -438,6 +503,8 @@ colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalpla
 	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;
 }
@@ -461,48 +528,130 @@ colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int nu
 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)
 		{
-			bestdist = dist;
-			VectorCopy(normal, brush->planes->normal);
+			// there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
+			brush->numplanes = 0;
+			return;
+		}
+		else
+		{
+			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, int supercontents)
@@ -518,34 +667,6 @@ colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, i
 	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)
 
@@ -569,14 +690,40 @@ void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *thisbrush
 			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;
@@ -594,10 +741,10 @@ void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *thisbrush
 			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)
@@ -636,7 +783,7 @@ void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *thisbrush
 	}
 }
 
-// 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;
@@ -653,7 +800,19 @@ void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const
 		startplane = thatbrush_start->planes + nplane;
 		endplane = thatbrush_end->planes + nplane;
 		d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
-		d2 = DotProduct(endplane->normal, lineend) - endplane->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)
@@ -670,10 +829,10 @@ void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const
 			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)
@@ -712,10 +871,11 @@ void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const
 	}
 }
 
+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_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 {
 	if (numpoints > 256)
 	{
@@ -726,16 +886,93 @@ void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbru
 	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);
 }
 
+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);
+		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);
+		}
+	}
+}
+
+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_Printf("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.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)
+	{
+		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_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
+		}
+	}
+}
+
+
 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)
@@ -747,12 +984,14 @@ void Collision_TraceBrushPolygonTransformFloat(trace_t *trace, const colbrushf_t
 	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);
@@ -771,6 +1010,7 @@ 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)
 {
@@ -782,6 +1022,11 @@ 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;
 	}
 }
 
@@ -792,23 +1037,32 @@ 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;
@@ -906,3 +1160,72 @@ float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double
 	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;
+
+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]));
+	}
+}
+