X-Git-Url: http://de.git.xonotic.org/?a=blobdiff_plain;f=collision.c;h=b628262773e040f2738ee06123f3696a2bc1900b;hb=639abfaa1b2ac3cd2bd22a9be9ea5bd8921162f6;hp=4936e2d461ec3a4215dcc43963fd42d72bd581c2;hpb=d3b158411b1d81181e05f750d9a7b0b2268438e2;p=xonotic%2Fdarkplaces.git

diff --git a/collision.c b/collision.c
index 4936e2d4..b6282627 100644
--- a/collision.c
+++ b/collision.c
@@ -1,583 +1,1272 @@
 
 #include "quakedef.h"
+#include "polygon.h"
+
+#define COLLISION_EDGEDIR_DOT_EPSILON (0.999f)
+#define COLLISION_EDGECROSS_MINLENGTH2 (1.0f / 4194304.0f)
+#define COLLISION_SNAPSCALE (32.0f)
+#define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
+#define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
+#define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
+
+cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
+cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
+cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
+cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
+cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
+cvar_t collision_prefernudgedfraction = {0, "collision_prefernudgedfraction", "1", "whether to sort collision events by nudged fraction (1) or real fraction (0)"};
+#ifdef COLLISION_STUPID_TRACE_ENDPOS_IN_SOLID_WORKAROUND
+cvar_t collision_endposnudge = {0, "collision_endposnudge", "0", "workaround to fix trace_endpos sometimes being returned where it would be inside solid by making that collision hit (recommended: values like 1)"};
+#endif
+cvar_t collision_debug_tracelineasbox = {0, "collision_debug_tracelineasbox", "0", "workaround for any bugs in Collision_TraceLineBrushFloat by using Collision_TraceBrushBrushFloat"};
 
-typedef struct
+void Collision_Init (void)
 {
-	// the hull we're tracing through
-	const hull_t *hull;
+	Cvar_RegisterVariable(&collision_impactnudge);
+	Cvar_RegisterVariable(&collision_startnudge);
+	Cvar_RegisterVariable(&collision_endnudge);
+	Cvar_RegisterVariable(&collision_enternudge);
+	Cvar_RegisterVariable(&collision_leavenudge);
+	Cvar_RegisterVariable(&collision_prefernudgedfraction);
+#ifdef COLLISION_STUPID_TRACE_ENDPOS_IN_SOLID_WORKAROUND
+	Cvar_RegisterVariable(&collision_endposnudge);
+#endif
+	Cvar_RegisterVariable(&collision_debug_tracelineasbox);
+}
+
+
+
 
-	// the trace structure to fill in
-	trace_t *trace;
 
-	// start and end of the trace (in model space)
-	double start[3];
-	double end[3];
 
-	// end - start
-	double dist[3];
-}
-RecursiveHullCheckTraceInfo_t;
 
-// 1/32 epsilon to keep floating point happy
-#define DIST_EPSILON (0.03125)
 
-#define HULLCHECKSTATE_EMPTY 0
-#define HULLCHECKSTATE_SOLID 1
-#define HULLCHECKSTATE_DONE 2
 
-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
-	// (note: tracing against a bbox is not thread-safe, yet)
-	int ret;
-	mplane_t *plane;
-	double t1, t2;
 
-	// variables that need to be stored on the stack when recursing
-	dclipnode_t *node;
-	int side;
-	double midf, mid[3];
 
-	// LordHavoc: a goto!  everyone flee in terror... :)
-loc0:
-	// check for empty
-	if (num < 0)
-	{
-		t->trace->endcontents = num;
-		if (t->trace->thiscontents)
-		{
-			if (num == t->trace->thiscontents)
-				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;
-		}
-		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;
-			}
-			return HULLCHECKSTATE_EMPTY;
-		}
-	}
 
-	// find the point distances
-	node = t->hull->clipnodes + num;
 
-	plane = t->hull->planes + node->planenum;
-	if (plane->type < 3)
+
+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, pointonplanes, pointswithinsufficientplanes, printbrush;
+	float d;
+	printbrush = false;
+	if (!brush->numpoints)
 	{
-		t1 = p1[plane->type] - plane->dist;
-		t2 = p2[plane->type] - plane->dist;
+		Con_Print("Collision_ValidateBrush: brush with no points!\n");
+		printbrush = true;
 	}
-	else
+#if 0
+	// it's ok for a brush to have one point and no planes...
+	if (brush->numplanes == 0 && brush->numpoints != 1)
 	{
-		t1 = DotProduct (plane->normal, p1) - plane->dist;
-		t2 = DotProduct (plane->normal, p2) - plane->dist;
+		Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
+		printbrush = true;
 	}
-
-	if (t1 < 0)
+#endif
+	if (brush->numplanes)
 	{
-		if (t2 < 0)
+		pointsoffplanes = 0;
+		pointswithinsufficientplanes = 0;
+		for (k = 0;k < brush->numplanes;k++)
+			if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
+				Con_Printf("Collision_ValidateBrush: plane #%i (%f %f %f %f) is degenerate\n", k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
+		for (j = 0;j < brush->numpoints;j++)
+		{
+			pointonplanes = 0;
+			for (k = 0;k < brush->numplanes;k++)
+			{
+				d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
+				if (d > COLLISION_PLANE_DIST_EPSILON)
+				{
+					Con_Printf("Collision_ValidateBrush: point #%i (%f %f %f) infront of plane #%i (%f %f %f %f)\n", j, brush->points[j].v[0], brush->points[j].v[1], brush->points[j].v[2], k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
+					printbrush = true;
+				}
+				if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
+					pointsoffplanes++;
+				else
+					pointonplanes++;
+			}
+			if (pointonplanes < 3)
+				pointswithinsufficientplanes++;
+		}
+		if (pointswithinsufficientplanes)
 		{
-			num = node->children[1];
-			goto loc0;
+			Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
+			printbrush = true;
 		}
-		side = 1;
-	}
-	else
-	{
-		if (t2 >= 0)
+		if (pointsoffplanes == 0) // all points are on all planes
 		{
-			num = node->children[0];
-			goto loc0;
+			Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
+			printbrush = true;
 		}
-		side = 0;
 	}
+	if (printbrush)
+		Collision_PrintBrushAsQHull(brush, "unnamed");
+}
 
-	// the line intersects, find intersection point
-	// LordHavoc: this uses the original trace for maximum accuracy
-	if (plane->type < 3)
-	{
-		t1 = t->start[plane->type] - plane->dist;
-		t2 = t->end[plane->type] - plane->dist;
-	}
-	else
+float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
+{
+	float dist, bestdist;
+	if (!numpoints)
+		return 0;
+	bestdist = DotProduct(points->v, normal);
+	points++;
+	while(--numpoints)
 	{
-		t1 = DotProduct (plane->normal, t->start) - plane->dist;
-		t2 = DotProduct (plane->normal, t->end) - plane->dist;
+		dist = DotProduct(points->v, normal);
+		bestdist = min(bestdist, dist);
+		points++;
 	}
+	return bestdist;
+}
 
-	midf = t1 / (t1 - t2);
-	midf = bound(p1f, midf, p2f);
-	VectorMA(t->start, midf, t->dist, mid);
-
-	// recurse both sides, front side first
-	ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
-	// if this side is not empty, return what it is (solid or done)
-	if (ret != HULLCHECKSTATE_EMPTY)
-		return ret;
-
-	ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
-	// if other side is not solid, return what it is (empty or done)
-	if (ret != HULLCHECKSTATE_SOLID)
-		return ret;
-
-	// front is air and back is solid, this is the impact point...
-	if (side)
-	{
-		t->trace->plane.dist = -plane->dist;
-		VectorNegate (plane->normal, t->trace->plane.normal);
-	}
-	else
+float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
+{
+	float dist, bestdist;
+	if (!numpoints)
+		return 0;
+	bestdist = DotProduct(points->v, normal);
+	points++;
+	while(--numpoints)
 	{
-		t->trace->plane.dist = plane->dist;
-		VectorCopy (plane->normal, t->trace->plane.normal);
+		dist = DotProduct(points->v, normal);
+		bestdist = max(bestdist, dist);
+		points++;
 	}
+	return bestdist;
+}
 
-	// bias away from surface a bit
-	t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
-	t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
-
-	midf = t1 / (t1 - t2);
-	t->trace->fraction = bound(0.0f, midf, 1.0);
-
-	VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
-
-	return HULLCHECKSTATE_DONE;
+void Collision_CalcEdgeDirsForPolygonBrushFloat(colbrushf_t *brush)
+{
+	int i, j;
+	for (i = 0, j = brush->numpoints - 1;i < brush->numpoints;j = i, i++)
+		VectorSubtract(brush->points[i].v, brush->points[j].v, brush->edgedirs[j].v);
 }
 
-#if 0
-// used if start and end are the same
-static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
+colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents, int q3surfaceflags, const texture_t *texture, int hasaabbplanes)
 {
-	// If you can read this, you understand BSP trees
-	while (num >= 0)
-		num = t->hull->clipnodes[num].children[((t->hull->planes[t->hull->clipnodes[num].planenum].type < 3) ? (t->start[t->hull->planes[t->hull->clipnodes[num].planenum].type]) : (DotProduct(t->hull->planes[t->hull->clipnodes[num].planenum].normal, t->start))) < t->hull->planes[t->hull->clipnodes[num].planenum].dist];
+	// TODO: planesbuf could be replaced by a remapping table
+	int j, k, l, m, w, xyzflags;
+	int numpointsbuf = 0, maxpointsbuf = 256, numedgedirsbuf = 0, maxedgedirsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
+	int isaabb = true;
+	double maxdist;
+	colbrushf_t *brush;
+	colpointf_t pointsbuf[256];
+	colpointf_t edgedirsbuf[256];
+	colplanef_t planesbuf[256];
+	int elementsbuf[1024];
+	int polypointbuf[256];
+	int pmaxpoints = 64;
+	int pnumpoints;
+	double p[2][3*64];
+#if 0
+	// enable these if debugging to avoid seeing garbage in unused data-
+	memset(pointsbuf, 0, sizeof(pointsbuf));
+	memset(edgedirsbuf, 0, sizeof(edgedirsbuf));
+	memset(planesbuf, 0, sizeof(planesbuf));
+	memset(elementsbuf, 0, sizeof(elementsbuf));
+	memset(polypointbuf, 0, sizeof(polypointbuf));
+	memset(p, 0, sizeof(p));
+#endif
 
-	// check for empty
-	t->trace->endcontents = num;
-	if (t->trace->thiscontents)
+	// check if there are too many planes and skip the brush
+	if (numoriginalplanes >= maxplanesbuf)
 	{
-		if (num == t->trace->thiscontents)
-			t->trace->allsolid = false;
-		else
-		{
-			// if the first leaf is solid, set startsolid
-			if (t->trace->allsolid)
-				t->trace->startsolid = true;
-		}
+		Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
+		return NULL;
 	}
-	else
+
+	// figure out how large a bounding box we need to properly compute this brush
+	maxdist = 0;
+	for (j = 0;j < numoriginalplanes;j++)
+		maxdist = max(maxdist, fabs(originalplanes[j].dist));
+	// now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
+	maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
+	// construct a collision brush (points, planes, and renderable mesh) from
+	// a set of planes, this also optimizes out any unnecessary planes (ones
+	// whose polygon is clipped away by the other planes)
+	for (j = 0;j < numoriginalplanes;j++)
 	{
-		if (num != CONTENTS_SOLID)
+		// add the new plane
+		VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
+		planesbuf[numplanesbuf].dist = originalplanes[j].dist;
+		planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
+		planesbuf[numplanesbuf].texture = originalplanes[j].texture;
+		numplanesbuf++;
+
+		// create a large polygon from the plane
+		w = 0;
+		PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
+		pnumpoints = 4;
+		// clip it by all other planes
+		for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
 		{
-			t->trace->allsolid = false;
-			if (num == CONTENTS_EMPTY)
-				t->trace->inopen = true;
-			else
-				t->trace->inwater = true;
+			// skip the plane this polygon
+			// (nothing happens if it is processed, this is just an optimization)
+			if (k != j)
+			{
+				// we want to keep the inside of the brush plane so we flip
+				// the cutting plane
+				PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, COLLISION_PLANE_DIST_EPSILON, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL, NULL);
+				w = !w;
+			}
 		}
-		else
+
+		// if nothing is left, skip it
+		if (pnumpoints < 3)
 		{
-			// if the first leaf is solid, set startsolid
-			if (t->trace->allsolid)
-				t->trace->startsolid = true;
+			//Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon for plane %f %f %f %f clipped away\n", originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
+			continue;
 		}
-	}
-}
-#endif
-
-static hull_t box_hull;
-static dclipnode_t box_clipnodes[6];
-static mplane_t box_planes[6];
-
-void Collision_Init (void)
-{
-	int		i;
-	int		side;
-
-	//Set up the planes and clipnodes so that the six floats of a bounding box
-	//can just be stored out and get a proper hull_t structure.
-
-	box_hull.clipnodes = box_clipnodes;
-	box_hull.planes = box_planes;
-	box_hull.firstclipnode = 0;
-	box_hull.lastclipnode = 5;
-
-	for (i = 0;i < 6;i++)
-	{
-		box_clipnodes[i].planenum = i;
-
-		side = i&1;
-
-		box_clipnodes[i].children[side] = CONTENTS_EMPTY;
-		if (i != 5)
-			box_clipnodes[i].children[side^1] = i + 1;
-		else
-			box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
 
-		box_planes[i].type = i>>1;
-		box_planes[i].normal[i>>1] = 1;
-	}
-}
-
-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)
-{
-	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.
-	// 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.hull = &box_hull;
-	rhc.trace = trace;
-	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);
-}
+		for (k = 0;k < pnumpoints;k++)
+		{
+			int l, m;
+			m = 0;
+			for (l = 0;l < numoriginalplanes;l++)
+				if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
+					m++;
+			if (m < 3)
+				break;
+		}
+		if (k < pnumpoints)
+		{
+			Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
+			//return NULL;
+		}
 
+		// check if there are too many polygon vertices for buffer
+		if (pnumpoints > pmaxpoints)
+		{
+			Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
+			return NULL;
+		}
 
+		// check if there are too many triangle elements for buffer
+		if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
+		{
+			Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
+			return NULL;
+		}
 
+		// add the unique points for this polygon
+		for (k = 0;k < pnumpoints;k++)
+		{
+			float v[3];
+			// downgrade to float precision before comparing
+			VectorCopy(&p[w][k*3], v);
 
+			// check if there is already a matching point (no duplicates)
+			for (m = 0;m < numpointsbuf;m++)
+				if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
+					break;
 
+			// if there is no match, add a new one
+			if (m == numpointsbuf)
+			{
+				// check if there are too many and skip the brush
+				if (numpointsbuf >= maxpointsbuf)
+				{
+					Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
+					return NULL;
+				}
+				// add the new one
+				VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
+				numpointsbuf++;
+			}
 
+			// store the index into a buffer
+			polypointbuf[k] = m;
+		}
 
+		// add the triangles for the polygon
+		// (this particular code makes a triangle fan)
+		for (k = 0;k < pnumpoints - 2;k++)
+		{
+			elementsbuf[numelementsbuf++] = polypointbuf[0];
+			elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
+			elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
+		}
 
+		// add the unique edgedirs for this polygon
+		for (k = 0, l = pnumpoints-1;k < pnumpoints;l = k, k++)
+		{
+			float dir[3];
+			// downgrade to float precision before comparing
+			VectorSubtract(&p[w][k*3], &p[w][l*3], dir);
+			VectorNormalize(dir);
+
+			// check if there is already a matching edgedir (no duplicates)
+			for (m = 0;m < numedgedirsbuf;m++)
+				if (DotProduct(dir, edgedirsbuf[m].v) >= COLLISION_EDGEDIR_DOT_EPSILON)
+					break;
+			// skip this if there is
+			if (m < numedgedirsbuf)
+				continue;
 
+			// try again with negated edgedir
+			VectorNegate(dir, dir);
+			// check if there is already a matching edgedir (no duplicates)
+			for (m = 0;m < numedgedirsbuf;m++)
+				if (DotProduct(dir, edgedirsbuf[m].v) >= COLLISION_EDGEDIR_DOT_EPSILON)
+					break;
+			// if there is no match, add a new one
+			if (m == numedgedirsbuf)
+			{
+				// check if there are too many and skip the brush
+				if (numedgedirsbuf >= maxedgedirsbuf)
+				{
+					Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many edgedirs for buffer\n");
+					return NULL;
+				}
+				// add the new one
+				VectorCopy(dir, edgedirsbuf[numedgedirsbuf].v);
+				numedgedirsbuf++;
+			}
+		}
 
+		// if any normal is not purely axial, it's not an axis-aligned box
+		if (isaabb && (originalplanes[j].normal[0] == 0) + (originalplanes[j].normal[1] == 0) + (originalplanes[j].normal[2] == 0) < 2)
+			isaabb = false;
+	}
 
+	// if nothing is left, there's nothing to allocate
+	if (numplanesbuf < 4)
+	{
+		Con_DPrintf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
+		return NULL;
+	}
 
+	// if no triangles or points could be constructed, then this routine failed but the brush is not discarded
+	if (numelementsbuf < 12 || numpointsbuf < 4)
+		Con_DPrintf("Collision_NewBrushFromPlanes: unable to rebuild triangles/points for collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
 
+	// validate plane distances
+	for (j = 0;j < numplanesbuf;j++)
+	{
+		float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
+		if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
+			Con_DPrintf("plane %f %f %f %f mismatches dist %f\n", planesbuf[j].normal[0], planesbuf[j].normal[1], planesbuf[j].normal[2], planesbuf[j].dist, d);
+	}
 
+	// allocate the brush and copy to it
+	brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colpointf_t) * numedgedirsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
+	brush->isaabb = isaabb;
+	brush->hasaabbplanes = hasaabbplanes;
+	brush->supercontents = supercontents;
+	brush->numplanes = numplanesbuf;
+	brush->numedgedirs = numedgedirsbuf;
+	brush->numpoints = numpointsbuf;
+	brush->numtriangles = numelementsbuf / 3;
+	brush->planes = (colplanef_t *)(brush + 1);
+	brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
+	brush->edgedirs = (colpointf_t *)(brush->points + brush->numpoints);
+	brush->elements = (int *)(brush->points + brush->numpoints);
+	brush->q3surfaceflags = q3surfaceflags;
+	brush->texture = texture;
+	for (j = 0;j < brush->numpoints;j++)
+	{
+		brush->points[j].v[0] = pointsbuf[j].v[0];
+		brush->points[j].v[1] = pointsbuf[j].v[1];
+		brush->points[j].v[2] = pointsbuf[j].v[2];
+	}
+	for (j = 0;j < brush->numedgedirs;j++)
+	{
+		brush->edgedirs[j].v[0] = edgedirsbuf[j].v[0];
+		brush->edgedirs[j].v[1] = edgedirsbuf[j].v[1];
+		brush->edgedirs[j].v[2] = edgedirsbuf[j].v[2];
+	}
+	for (j = 0;j < brush->numplanes;j++)
+	{
+		brush->planes[j].normal[0] = planesbuf[j].normal[0];
+		brush->planes[j].normal[1] = planesbuf[j].normal[1];
+		brush->planes[j].normal[2] = planesbuf[j].normal[2];
+		brush->planes[j].dist = planesbuf[j].dist;
+		brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
+		brush->planes[j].texture = planesbuf[j].texture;
+	}
+	for (j = 0;j < brush->numtriangles * 3;j++)
+		brush->elements[j] = elementsbuf[j];
 
-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);
+	xyzflags = 0;
+	VectorClear(brush->mins);
+	VectorClear(brush->maxs);
+	for (j = 0;j < min(6, numoriginalplanes);j++)
+	{
+		     if (originalplanes[j].normal[0] ==  1) {xyzflags |=  1;brush->maxs[0] =  originalplanes[j].dist;}
+		else if (originalplanes[j].normal[0] == -1) {xyzflags |=  2;brush->mins[0] = -originalplanes[j].dist;}
+		else if (originalplanes[j].normal[1] ==  1) {xyzflags |=  4;brush->maxs[1] =  originalplanes[j].dist;}
+		else if (originalplanes[j].normal[1] == -1) {xyzflags |=  8;brush->mins[1] = -originalplanes[j].dist;}
+		else if (originalplanes[j].normal[2] ==  1) {xyzflags |= 16;brush->maxs[2] =  originalplanes[j].dist;}
+		else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
+	}
+	// if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
+	// (this case works for any brush with valid points, but sometimes brushes are not reconstructed properly and hence the points are not valid, so this is reserved as a fallback case)
+	if (xyzflags != 63)
+	{
+		VectorCopy(brush->points[0].v, brush->mins);
+		VectorCopy(brush->points[0].v, brush->maxs);
+		for (j = 1;j < brush->numpoints;j++)
+		{
+			brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
+			brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
+			brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
+			brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
+			brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
+			brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
+		}
+	}
+	brush->mins[0] -= 1;
+	brush->mins[1] -= 1;
+	brush->mins[2] -= 1;
+	brush->maxs[0] += 1;
+	brush->maxs[1] += 1;
+	brush->maxs[2] += 1;
+	Collision_ValidateBrush(brush);
+	return brush;
 }
 
 
-colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes)
-{
-	colbrushf_t *brush;
-	brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes);
-	brush->numpoints = numpoints;
-	brush->numplanes = numplanes;
-	brush->planes = (void *)(brush + 1);
-	brush->points = (void *)(brush->planes + brush->numplanes);
-	return brush;
-}
 
 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 {
 	int i;
-	float edge0[3], edge1[3], normal[3], dist, bestdist;
+	float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
 	colpointf_t *p, *p2;
 
-	// choose best surface normal for polygon's plane
-	bestdist = 0;
-	for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
+	// FIXME: these probably don't actually need to be normalized if the collision code does not care
+	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;
+			brush->numedgedirs = 3;
+			VectorNormalize(brush->planes[0].normal);
+			brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
+			VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
+			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);
+			VectorCopy(edge0, brush->edgedirs[0].v);
+			VectorCopy(edge1, brush->edgedirs[1].v);
+			VectorCopy(edge2, brush->edgedirs[2].v);
+#if 1
+			{
+				float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
+				int i, best;
+				float dist, bestdist;
+				bestdist = fabs(brush->planes[0].normal[0]);
+				best = 0;
+				for (i = 1;i < 3;i++)
+				{
+					dist = fabs(brush->planes[0].normal[i]);
+					if (bestdist < dist)
+					{
+						bestdist = dist;
+						best = i;
+					}
+				}
+				VectorClear(projectionnormal);
+				if (brush->planes[0].normal[best] < 0)
+					projectionnormal[best] = -1;
+				else
+					projectionnormal[best] = 1;
+				VectorCopy(edge0, projectionedge0);
+				VectorCopy(edge1, projectionedge1);
+				VectorCopy(edge2, projectionedge2);
+				projectionedge0[best] = 0;
+				projectionedge1[best] = 0;
+				projectionedge2[best] = 0;
+				CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
+				CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
+				CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
+			}
+#else
+			CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
+			CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
+			CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
+#endif
+			VectorNormalize(brush->planes[2].normal);
+			VectorNormalize(brush->planes[3].normal);
+			VectorNormalize(brush->planes[4].normal);
+			brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
+			brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
+			brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
+
+			if (developer_extra.integer)
+			{
+				// validation code
+#if 0
+				float temp[3];
+
+				VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
+				VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
+				CrossProduct(edge0, edge1, normal);
+				VectorNormalize(normal);
+				VectorSubtract(normal, brush->planes[0].normal, temp);
+				if (VectorLength(temp) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: TriangleNormal gave wrong answer (%f %f %f != correct answer %f %f %f)\n", brush->planes->normal[0], brush->planes->normal[1], brush->planes->normal[2], normal[0], normal[1], normal[2]);
+				if (fabs(DotProduct(brush->planes[1].normal, brush->planes[0].normal) - -1.0f) > 0.01f || fabs(brush->planes[1].dist - -brush->planes[0].dist) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: plane 1 (%f %f %f %f) is not opposite plane 0 (%f %f %f %f)\n", brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
+#if 0
+				if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[2].dist);
+				if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[3].dist);
+				if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[4].dist);
+				if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to edge 0 (%f %f %f to %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2]);
+				if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to edge 1 (%f %f %f to %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2]);
+				if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to edge 2 (%f %f %f to %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2]);
+#endif
+#endif
+				if (fabs(DotProduct(brush->points[0].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off front plane 0 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
+				if (fabs(DotProduct(brush->points[0].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off back plane 1 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist);
+				if (fabs(DotProduct(brush->points[2].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f || fabs(DotProduct(brush->points[0].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist);
+				if (fabs(DotProduct(brush->points[0].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist);
+				if (fabs(DotProduct(brush->points[1].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f)
+					Con_DPrintf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist);
+			}
 		}
 	}
-
-	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_extra.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 + COLLISION_PLANE_DIST_EPSILON)
+					Con_DPrintf("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, int q3surfaceflags, const texture_t *texture)
 {
 	colbrushf_t *brush;
-	brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
+	brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2) + sizeof(colpointf_t) * numpoints);
+	brush->isaabb = false;
+	brush->hasaabbplanes = false;
+	brush->supercontents = supercontents;
 	brush->numpoints = numpoints;
+	brush->numedgedirs = numpoints;
 	brush->numplanes = numpoints + 2;
-	brush->planes = (void *)(brush + 1);
+	brush->planes = (colplanef_t *)(brush + 1);
 	brush->points = (colpointf_t *)points;
+	brush->edgedirs = (colpointf_t *)(brush->planes + brush->numplanes);
+	brush->q3surfaceflags = q3surfaceflags;
+	brush->texture = texture;
+	Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
 	return brush;
 }
 
-float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
+// NOTE: start and end of each brush pair must have same numplanes/numpoints
+void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *trace_start, const colbrushf_t *trace_end, const colbrushf_t *other_start, const colbrushf_t *other_end)
 {
-	float dist, bestdist;
-	bestdist = DotProduct(points->v, normal);
-	points++;
-	while(--numpoints)
+	int nplane, nplane2, nedge1, nedge2, hitq3surfaceflags = 0;
+	int tracenumedgedirs = trace_start->numedgedirs;
+	//int othernumedgedirs = other_start->numedgedirs;
+	int tracenumpoints = trace_start->numpoints;
+	int othernumpoints = other_start->numpoints;
+	int numplanes1 = other_start->numplanes;
+	int numplanes2 = numplanes1 + trace_start->numplanes;
+	int numplanes3 = numplanes2 + trace_start->numedgedirs * other_start->numedgedirs * 2;
+	vec_t enterfrac = -1, leavefrac = 1, startdist, enddist, ie, f, imove, enterfrac2 = -1;
+	vec4_t startplane;
+	vec4_t endplane;
+	vec4_t newimpactplane;
+	const texture_t *hittexture = NULL;
+	vec_t startdepth = 1;
+	vec3_t startdepthnormal;
+
+	VectorClear(startdepthnormal);
+	Vector4Clear(newimpactplane);
+
+	// fast case for AABB vs compiled brushes (which begin with AABB planes and also have precomputed bevels for AABB collisions)
+	if (trace_start->isaabb && other_start->hasaabbplanes)
+		numplanes3 = numplanes2 = numplanes1;
+
+	// Separating Axis Theorem:
+	// if a supporting vector (plane normal) can be found that separates two
+	// objects, they are not colliding.
+	//
+	// Minkowski Sum:
+	// reduce the size of one object to a point while enlarging the other to
+	// represent the space that point can not occupy.
+	//
+	// try every plane we can construct between the two brushes and measure
+	// the distance between them.
+	for (nplane = 0;nplane < numplanes3;nplane++)
 	{
-		dist = DotProduct(points->v, normal);
-		if (bestdist > dist)
-			bestdist = dist;
-		points++;
+		if (nplane < numplanes1)
+		{
+			nplane2 = nplane;
+			VectorCopy(other_start->planes[nplane2].normal, startplane);
+			VectorCopy(other_end->planes[nplane2].normal, endplane);
+		}
+		else if (nplane < numplanes2)
+		{
+			nplane2 = nplane - numplanes1;
+			VectorCopy(trace_start->planes[nplane2].normal, startplane);
+			VectorCopy(trace_end->planes[nplane2].normal, endplane);
+		}
+		else
+		{
+			// pick an edgedir from each brush and cross them
+			nplane2 = nplane - numplanes2;
+			nedge1 = nplane2 >> 1;
+			nedge2 = nedge1 / tracenumedgedirs;
+			nedge1 -= nedge2 * tracenumedgedirs;
+			if (nplane2 & 1)
+			{
+				CrossProduct(trace_start->edgedirs[nedge1].v, other_start->edgedirs[nedge2].v, startplane);
+				if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
+					continue; // degenerate crossproduct
+				CrossProduct(trace_end->edgedirs[nedge1].v, other_end->edgedirs[nedge2].v, endplane);
+				if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
+					continue; // degenerate crossproduct
+			}
+			else
+			{
+				CrossProduct(other_start->edgedirs[nedge2].v, trace_start->edgedirs[nedge1].v, startplane);
+				if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
+					continue; // degenerate crossproduct
+				CrossProduct(other_end->edgedirs[nedge2].v, trace_end->edgedirs[nedge1].v, endplane);
+				if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
+					continue; // degenerate crossproduct
+			}
+			VectorNormalize(startplane);
+			VectorNormalize(endplane);
+		}
+		startplane[3] = furthestplanedist_float(startplane, other_start->points, othernumpoints);
+		endplane[3] = furthestplanedist_float(startplane, other_end->points, othernumpoints);
+		startdist = nearestplanedist_float(startplane, trace_start->points, tracenumpoints) - startplane[3] - collision_startnudge.value;
+		enddist = nearestplanedist_float(endplane, trace_end->points, tracenumpoints) - endplane[3] - collision_endnudge.value;
+		//Con_Printf("%c%i: startdist = %f, enddist = %f, startdist / (startdist - enddist) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, startdist, enddist, startdist / (startdist - enddist));
+
+		// aside from collisions, this is also used for error correction
+		if (startdist < collision_impactnudge.value && nplane < numplanes1 && (startdepth < startdist || startdepth == 1))
+		{
+			startdepth = startdist;
+			VectorCopy(startplane, startdepthnormal);
+		}
+
+		if (startdist > enddist)
+		{
+			// moving into brush
+			if (enddist >= collision_enternudge.value)
+				return;
+			if (startdist > 0)
+			{
+				// enter
+				imove = 1 / (startdist - enddist);
+				f = (startdist - collision_enternudge.value) * imove;
+				if (f < 0)
+					f = 0;
+				// check if this will reduce the collision time range
+				if (enterfrac < f)
+				{
+					// reduced collision time range
+					enterfrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+					// if the collision would be further away than the trace's
+					// existing collision data, we don't care about this
+					// collision
+					if (enterfrac > trace->realfraction)
+						return;
+					// calculate the nudged fraction and impact normal we'll
+					// need if we accept this collision later
+					enterfrac2 = (startdist - collision_impactnudge.value) * imove;
+					ie = 1.0f - enterfrac;
+					newimpactplane[0] = startplane[0] * ie + endplane[0] * enterfrac;
+					newimpactplane[1] = startplane[1] * ie + endplane[1] * enterfrac;
+					newimpactplane[2] = startplane[2] * ie + endplane[2] * enterfrac;
+					newimpactplane[3] = startplane[3] * ie + endplane[3] * enterfrac;
+					if (nplane < numplanes1)
+					{
+						// use the plane from other
+						nplane2 = nplane;
+						hitq3surfaceflags = other_start->planes[nplane2].q3surfaceflags;
+						hittexture = other_start->planes[nplane2].texture;
+					}
+					else if (nplane < numplanes2)
+					{
+						// use the plane from trace
+						nplane2 = nplane - numplanes1;
+						hitq3surfaceflags = trace_start->planes[nplane2].q3surfaceflags;
+						hittexture = trace_start->planes[nplane2].texture;
+					}
+					else
+					{
+						hitq3surfaceflags = other_start->q3surfaceflags;
+						hittexture = other_start->texture;
+					}
+				}
+			}
+		}
+		else
+		{
+			// moving out of brush
+			if (startdist > 0)
+				return;
+			if (enddist > 0)
+			{
+				// leave
+				f = (startdist + collision_leavenudge.value) / (startdist - enddist);
+				if (f > 1)
+					f = 1;
+				// check if this will reduce the collision time range
+				if (leavefrac > f)
+				{
+					// reduced collision time range
+					leavefrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+				}
+			}
+		}
 	}
-	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)
+	// at this point we know the trace overlaps the brush because it was not
+	// rejected at any point in the loop above
+
+	// see if the trace started outside the brush or not
+	if (enterfrac > -1)
 	{
-		dist = DotProduct(points->v, normal);
-		if (bestdist < dist)
-			bestdist = dist;
-		points++;
+		// started outside, and overlaps, therefore there is a collision here
+		// store out the impact information
+		if (trace->hitsupercontentsmask & other_start->supercontents)
+		{
+			trace->hitsupercontents = other_start->supercontents;
+			trace->hitq3surfaceflags = hitq3surfaceflags;
+			trace->hittexture = hittexture;
+			trace->realfraction = bound(0, enterfrac, 1);
+			trace->fraction = bound(0, enterfrac2, 1);
+			if (collision_prefernudgedfraction.integer)
+				trace->realfraction = trace->fraction;
+			VectorCopy(newimpactplane, trace->plane.normal);
+			trace->plane.dist = newimpactplane[3];
+		}
+	}
+	else
+	{
+		// started inside, update startsolid and friends
+		trace->startsupercontents |= other_start->supercontents;
+		if (trace->hitsupercontentsmask & other_start->supercontents)
+		{
+			trace->startsolid = true;
+			if (leavefrac < 1)
+				trace->allsolid = true;
+			VectorCopy(newimpactplane, trace->plane.normal);
+			trace->plane.dist = newimpactplane[3];
+			if (trace->startdepth > startdepth)
+			{
+				trace->startdepth = startdepth;
+				VectorCopy(startdepthnormal, trace->startdepthnormal);
+			}
+		}
 	}
-	return bestdist;
 }
 
-#define COLLISIONEPSILON (1.0f / 32.0f)
-#define COLLISIONEPSILON2 0//(1.0f / 32.0f)
-
 // NOTE: start and end of each brush pair must have same numplanes/numpoints
-void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
+void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *other_start, const colbrushf_t *other_end)
 {
-	int nplane, nplane2, fstartsolid, fendsolid;
-	float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
-	const colplanef_t *startplane, *endplane;
-
-	enterfrac = -1;
-	leavefrac = 1;
-	fstartsolid = true;
-	fendsolid = true;
+	int nplane, hitq3surfaceflags = 0;
+	int numplanes = other_start->numplanes;
+	vec_t enterfrac = -1, leavefrac = 1, startdist, enddist, ie, f, imove, enterfrac2 = -1;
+	vec4_t startplane;
+	vec4_t endplane;
+	vec4_t newimpactplane;
+	const texture_t *hittexture = NULL;
+	vec_t startdepth = 1;
+	vec3_t startdepthnormal;
+
+	if (collision_debug_tracelineasbox.integer)
+	{
+		colboxbrushf_t thisbrush_start, thisbrush_end;
+		Collision_BrushForBox(&thisbrush_start, linestart, linestart, 0, 0, NULL);
+		Collision_BrushForBox(&thisbrush_end, lineend, lineend, 0, 0, NULL);
+		Collision_TraceBrushBrushFloat(trace, &thisbrush_start.brush, &thisbrush_end.brush, other_start, other_end);
+		return;
+	}
 
-	for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
+	VectorClear(startdepthnormal);
+	Vector4Clear(newimpactplane);
+
+	// Separating Axis Theorem:
+	// if a supporting vector (plane normal) can be found that separates two
+	// objects, they are not colliding.
+	//
+	// Minkowski Sum:
+	// reduce the size of one object to a point while enlarging the other to
+	// represent the space that point can not occupy.
+	//
+	// try every plane we can construct between the two brushes and measure
+	// the distance between them.
+	for (nplane = 0;nplane < numplanes;nplane++)
 	{
-		nplane2 = nplane;
-		if (nplane2 >= thatbrush_start->numplanes)
-		{
-			nplane2 -= thatbrush_start->numplanes;
-			startplane = thisbrush_start->planes + nplane2;
-			endplane = thisbrush_end->planes + nplane2;
-		}
-		else
+		VectorCopy(other_start->planes[nplane].normal, startplane);
+		startplane[3] = other_start->planes[nplane].dist;
+		VectorCopy(other_end->planes[nplane].normal, endplane);
+		endplane[3] = other_end->planes[nplane].dist;
+		startdist = DotProduct(linestart, startplane) - startplane[3] - collision_startnudge.value;
+		enddist = DotProduct(lineend, endplane) - endplane[3] - collision_endnudge.value;
+		//Con_Printf("%c%i: startdist = %f, enddist = %f, startdist / (startdist - enddist) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, startdist, enddist, startdist / (startdist - enddist));
+
+		// aside from collisions, this is also used for error correction
+		if (startdist < collision_impactnudge.value && (startdepth < startdist || startdepth == 1))
 		{
-			startplane = thatbrush_start->planes + nplane2;
-			endplane = thatbrush_end->planes + nplane2;
+			startdepth = startdist;
+			VectorCopy(startplane, startdepthnormal);
 		}
-		d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
-		d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
-		//Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 
-		f = d1 - d2;
-		if (f >= 0)
+		if (startdist > enddist)
 		{
 			// moving into brush
-			if (d2 > 0)
+			if (enddist >= collision_enternudge.value)
 				return;
-			if (d1 < 0)
-				continue;
-			// enter
-			fstartsolid = false;
-			f = (d1 - COLLISIONEPSILON) / f;
-			f = bound(0, f, 1);
-			if (enterfrac < f)
+			if (startdist > 0)
 			{
-				enterfrac = f;
-				VectorBlend(startplane->normal, endplane->normal, enterfrac, newimpactnormal);
+				// enter
+				imove = 1 / (startdist - enddist);
+				f = (startdist - collision_enternudge.value) * imove;
+				if (f < 0)
+					f = 0;
+				// check if this will reduce the collision time range
+				if (enterfrac < f)
+				{
+					// reduced collision time range
+					enterfrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+					// if the collision would be further away than the trace's
+					// existing collision data, we don't care about this
+					// collision
+					if (enterfrac > trace->realfraction)
+						return;
+					// calculate the nudged fraction and impact normal we'll
+					// need if we accept this collision later
+					enterfrac2 = (startdist - collision_impactnudge.value) * imove;
+					ie = 1.0f - enterfrac;
+					newimpactplane[0] = startplane[0] * ie + endplane[0] * enterfrac;
+					newimpactplane[1] = startplane[1] * ie + endplane[1] * enterfrac;
+					newimpactplane[2] = startplane[2] * ie + endplane[2] * enterfrac;
+					newimpactplane[3] = startplane[3] * ie + endplane[3] * enterfrac;
+					hitq3surfaceflags = other_start->planes[nplane].q3surfaceflags;
+					hittexture = other_start->planes[nplane].texture;
+				}
 			}
 		}
-		else if (f < 0)
+		else
 		{
 			// moving out of brush
-			if (d1 > 0)
+			if (startdist > 0)
 				return;
-			if (d2 < 0)
-				continue;
-			// leave
-			fendsolid = false;
-			f = (d1 + COLLISIONEPSILON) / f;
-			f = bound(0, f, 1);
-			if (leavefrac > f)
-				leavefrac = f;
+			if (enddist > 0)
+			{
+				// leave
+				f = (startdist + collision_leavenudge.value) / (startdist - enddist);
+				if (f > 1)
+					f = 1;
+				// check if this will reduce the collision time range
+				if (leavefrac > f)
+				{
+					// reduced collision time range
+					leavefrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+				}
+			}
 		}
 	}
 
-	if (fstartsolid)
+	// at this point we know the trace overlaps the brush because it was not
+	// rejected at any point in the loop above
+
+	// see if the trace started outside the brush or not
+	if (enterfrac > -1)
 	{
-		trace->startsolid = true;
-		if (fendsolid)
-			trace->allsolid = true;
+		// started outside, and overlaps, therefore there is a collision here
+		// store out the impact information
+		if (trace->hitsupercontentsmask & other_start->supercontents)
+		{
+			trace->hitsupercontents = other_start->supercontents;
+			trace->hitq3surfaceflags = hitq3surfaceflags;
+			trace->hittexture = hittexture;
+			trace->realfraction = bound(0, enterfrac, 1);
+			trace->fraction = bound(0, enterfrac2, 1);
+			if (collision_prefernudgedfraction.integer)
+				trace->realfraction = trace->fraction;
+			VectorCopy(newimpactplane, trace->plane.normal);
+			trace->plane.dist = newimpactplane[3];
+		}
 	}
-
-	// LordHavoc: we need an epsilon nudge here because for a point trace the
-	// penetrating line segment is normally zero length if this brush was
-	// generated from a polygon (infinitely thin), and could even be slightly
-	// positive or negative due to rounding errors in that case.
-	if (enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+	else
 	{
-		trace->fraction = bound(0, enterfrac, 1);
-		VectorCopy(newimpactnormal, trace->plane.normal);
+		// started inside, update startsolid and friends
+		trace->startsupercontents |= other_start->supercontents;
+		if (trace->hitsupercontentsmask & other_start->supercontents)
+		{
+			trace->startsolid = true;
+			if (leavefrac < 1)
+				trace->allsolid = true;
+			VectorCopy(newimpactplane, trace->plane.normal);
+			trace->plane.dist = newimpactplane[3];
+			if (trace->startdepth > startdepth)
+			{
+				trace->startdepth = startdepth;
+				VectorCopy(startdepthnormal, trace->startdepthnormal);
+			}
+		}
 	}
 }
 
-static colplanef_t polyf_planes[256 + 2];
-static colbrushf_t polyf_brush;
+qboolean Collision_PointInsideBrushFloat(const vec3_t point, const colbrushf_t *brush)
+{
+	int nplane;
+	const colplanef_t *plane;
+
+	if (!BoxesOverlap(point, point, brush->mins, brush->maxs))
+		return false;
+	for (nplane = 0, plane = brush->planes;nplane < brush->numplanes;nplane++, plane++)
+		if (DotProduct(plane->normal, point) > plane->dist)
+			return false;
+	return true;
+}
 
-void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points)
+void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 {
-	if (numpoints > 256)
-	{
-		Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
+	if (!Collision_PointInsideBrushFloat(point, thatbrush))
 		return;
+
+	trace->startsupercontents |= thatbrush->supercontents;
+	if (trace->hitsupercontentsmask & thatbrush->supercontents)
+	{
+		trace->startsolid = true;
+		trace->allsolid = true;
 	}
-	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");
-	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &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_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 {
 	int i;
-	if (numpoints > 256)
+	for (i = 0;i < numpoints;i++)
 	{
-		Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
-		return;
+		out[i].v[0] = floor(in[i].v[0] * fractionprecision + 0.5f) * invfractionprecision;
+		out[i].v[1] = floor(in[i].v[1] * fractionprecision + 0.5f) * invfractionprecision;
+		out[i].v[2] = floor(in[i].v[2] * fractionprecision + 0.5f) * invfractionprecision;
 	}
-	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");
-
-	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 }
 
+void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int stride, float *bbox6f, int supercontents, int q3surfaceflags, const texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
+{
+	int i;
+	colpointf_t points[3];
+	colpointf_t edgedirs[3];
+	colplanef_t planes[5];
+	colbrushf_t brush;
+	memset(&brush, 0, sizeof(brush));
+	brush.isaabb = false;
+	brush.hasaabbplanes = false;
+	brush.numpoints = 3;
+	brush.numedgedirs = 3;
+	brush.numplanes = 5;
+	brush.points = points;
+	brush.edgedirs = edgedirs;
+	brush.planes = planes;
+	brush.supercontents = supercontents;
+	brush.q3surfaceflags = q3surfaceflags;
+	brush.texture = texture;
+	for (i = 0;i < brush.numplanes;i++)
+	{
+		brush.planes[i].q3surfaceflags = q3surfaceflags;
+		brush.planes[i].texture = texture;
+	}
+	if(stride > 0)
+	{
+		int k, cnt, tri;
+		cnt = (numtriangles + stride - 1) / stride;
+		for(i = 0; i < cnt; ++i)
+		{
+			if(BoxesOverlap(bbox6f + i * 6, bbox6f + i * 6 + 3, segmentmins, segmentmaxs))
+			{
+				for(k = 0; k < stride; ++k)
+				{
+					tri = i * stride + k;
+					if(tri >= numtriangles)
+						break;
+					VectorCopy(vertex3f + element3i[tri * 3 + 0] * 3, points[0].v);
+					VectorCopy(vertex3f + element3i[tri * 3 + 1] * 3, points[1].v);
+					VectorCopy(vertex3f + element3i[tri * 3 + 2] * 3, points[2].v);
+					Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+					Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+					Collision_CalcPlanesForPolygonBrushFloat(&brush);
+					//Collision_PrintBrushAsQHull(&brush, "brush");
+					Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
+				}
+			}
+		}
+	}
+	else if(stride == 0)
+	{
+		for (i = 0;i < numtriangles;i++, element3i += 3)
+		{
+			if (TriangleOverlapsBox(vertex3f + element3i[0]*3, vertex3f + element3i[1]*3, vertex3f + element3i[2]*3, segmentmins, segmentmaxs))
+			{
+				VectorCopy(vertex3f + element3i[0] * 3, points[0].v);
+				VectorCopy(vertex3f + element3i[1] * 3, points[1].v);
+				VectorCopy(vertex3f + element3i[2] * 3, points[2].v);
+				Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+				Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+				Collision_CalcPlanesForPolygonBrushFloat(&brush);
+				//Collision_PrintBrushAsQHull(&brush, "brush");
+				Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
+			}
+		}
+	}
+	else
+	{
+		for (i = 0;i < numtriangles;i++, element3i += 3)
+		{
+			VectorCopy(vertex3f + element3i[0] * 3, points[0].v);
+			VectorCopy(vertex3f + element3i[1] * 3, points[1].v);
+			VectorCopy(vertex3f + element3i[2] * 3, points[2].v);
+			Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+			Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+			Collision_CalcPlanesForPolygonBrushFloat(&brush);
+			//Collision_PrintBrushAsQHull(&brush, "brush");
+			Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
+		}
+	}
+}
 
+void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int stride, float *bbox6f, int supercontents, int q3surfaceflags, const texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
+{
+	int i;
+	// FIXME: snap vertices?
+	if(stride > 0)
+	{
+		int k, cnt, tri;
+		cnt = (numtriangles + stride - 1) / stride;
+		for(i = 0; i < cnt; ++i)
+		{
+			if(BoxesOverlap(bbox6f + i * 6, bbox6f + i * 6 + 3, segmentmins, segmentmaxs))
+			{
+				for(k = 0; k < stride; ++k)
+				{
+					tri = i * stride + k;
+					if(tri >= numtriangles)
+						break;
+					Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[tri * 3 + 0] * 3, vertex3f + element3i[tri * 3 + 1] * 3, vertex3f + element3i[tri * 3 + 2] * 3, supercontents, q3surfaceflags, texture);
+				}
+			}
+		}
+	}
+	else
+	{
+		for (i = 0;i < numtriangles;i++, element3i += 3)
+			Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
+	}
+}
 
-#define MAX_BRUSHFORBOX 16
-static int brushforbox_index = 0;
-static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
-static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
-static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
-
-void Collision_InitBrushForBox(void)
+void Collision_TraceBrushTriangleFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const float *v0, const float *v1, const float *v2, int supercontents, int q3surfaceflags, const texture_t *texture)
 {
 	int i;
-	for (i = 0;i < MAX_BRUSHFORBOX;i++)
+	colpointf_t points[3];
+	colpointf_t edgedirs[3];
+	colplanef_t planes[5];
+	colbrushf_t brush;
+	memset(&brush, 0, sizeof(brush));
+	brush.isaabb = false;
+	brush.hasaabbplanes = false;
+	brush.numpoints = 3;
+	brush.numedgedirs = 3;
+	brush.numplanes = 5;
+	brush.points = points;
+	brush.edgedirs = edgedirs;
+	brush.planes = planes;
+	brush.supercontents = supercontents;
+	brush.q3surfaceflags = q3surfaceflags;
+	brush.texture = texture;
+	for (i = 0;i < brush.numplanes;i++)
 	{
-		brushforbox_brush[i].numpoints = 8;
-		brushforbox_brush[i].numplanes = 6;
-		brushforbox_brush[i].points = brushforbox_point + i * 8;
-		brushforbox_brush[i].planes = brushforbox_plane + i * 6;
+		brush.planes[i].q3surfaceflags = q3surfaceflags;
+		brush.planes[i].texture = texture;
 	}
+	VectorCopy(v0, points[0].v);
+	VectorCopy(v1, points[1].v);
+	VectorCopy(v2, points[2].v);
+	Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+	Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
+	Collision_CalcPlanesForPolygonBrushFloat(&brush);
+	//Collision_PrintBrushAsQHull(&brush, "brush");
+	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
 }
 
-colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
+void Collision_BrushForBox(colboxbrushf_t *boxbrush, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, const texture_t *texture)
 {
 	int i;
-	vec3_t v;
-	colbrushf_t *brush;
-	if (brushforbox_brush[0].numpoints == 0)
-		Collision_InitBrushForBox();
-	brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
-	// FIXME: optimize
-	for (i = 0;i < 8;i++)
+	memset(boxbrush, 0, sizeof(*boxbrush));
+	boxbrush->brush.isaabb = true;
+	boxbrush->brush.hasaabbplanes = true;
+	boxbrush->brush.points = boxbrush->points;
+	boxbrush->brush.edgedirs = boxbrush->edgedirs;
+	boxbrush->brush.planes = boxbrush->planes;
+	boxbrush->brush.supercontents = supercontents;
+	boxbrush->brush.q3surfaceflags = q3surfaceflags;
+	boxbrush->brush.texture = texture;
+	if (VectorCompare(mins, maxs))
 	{
-		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
+		boxbrush->brush.numpoints = 1;
+		boxbrush->brush.numedgedirs = 0;
+		boxbrush->brush.numplanes = 0;
+		VectorCopy(mins, boxbrush->brush.points[0].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);
+		boxbrush->brush.numpoints = 8;
+		boxbrush->brush.numedgedirs = 3;
+		boxbrush->brush.numplanes = 6;
+		// there are 8 points on a box
+		// there are 3 edgedirs on a box (both signs are tested in collision)
+		// there are 6 planes on a box
+		VectorSet(boxbrush->brush.points[0].v, mins[0], mins[1], mins[2]);
+		VectorSet(boxbrush->brush.points[1].v, maxs[0], mins[1], mins[2]);
+		VectorSet(boxbrush->brush.points[2].v, mins[0], maxs[1], mins[2]);
+		VectorSet(boxbrush->brush.points[3].v, maxs[0], maxs[1], mins[2]);
+		VectorSet(boxbrush->brush.points[4].v, mins[0], mins[1], maxs[2]);
+		VectorSet(boxbrush->brush.points[5].v, maxs[0], mins[1], maxs[2]);
+		VectorSet(boxbrush->brush.points[6].v, mins[0], maxs[1], maxs[2]);
+		VectorSet(boxbrush->brush.points[7].v, maxs[0], maxs[1], maxs[2]);
+		VectorSet(boxbrush->brush.edgedirs[0].v, 1, 0, 0);
+		VectorSet(boxbrush->brush.edgedirs[1].v, 0, 1, 0);
+		VectorSet(boxbrush->brush.edgedirs[2].v, 0, 0, 1);
+		VectorSet(boxbrush->brush.planes[0].normal, -1,  0,  0);boxbrush->brush.planes[0].dist = -mins[0];
+		VectorSet(boxbrush->brush.planes[1].normal,  1,  0,  0);boxbrush->brush.planes[1].dist =  maxs[0];
+		VectorSet(boxbrush->brush.planes[2].normal,  0, -1,  0);boxbrush->brush.planes[2].dist = -mins[1];
+		VectorSet(boxbrush->brush.planes[3].normal,  0,  1,  0);boxbrush->brush.planes[3].dist =  maxs[1];
+		VectorSet(boxbrush->brush.planes[4].normal,  0,  0, -1);boxbrush->brush.planes[4].dist = -mins[2];
+		VectorSet(boxbrush->brush.planes[5].normal,  0,  0,  1);boxbrush->brush.planes[5].dist =  maxs[2];
+		for (i = 0;i < 6;i++)
+		{
+			boxbrush->brush.planes[i].q3surfaceflags = q3surfaceflags;
+			boxbrush->brush.planes[i].texture = texture;
+		}
 	}
-	return brush;
+	boxbrush->brush.supercontents = supercontents;
+	boxbrush->brush.q3surfaceflags = q3surfaceflags;
+	boxbrush->brush.texture = texture;
+	VectorSet(boxbrush->brush.mins, mins[0] - 1, mins[1] - 1, mins[2] - 1);
+	VectorSet(boxbrush->brush.maxs, maxs[0] + 1, maxs[1] + 1, maxs[2] + 1);
+	//Collision_ValidateBrush(&boxbrush->brush);
+}
+
+void Collision_ClipTrace_BrushBox(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int supercontents, int q3surfaceflags, texture_t *texture)
+{
+	colboxbrushf_t boxbrush, thisbrush_start, thisbrush_end;
+	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);
+	Collision_BrushForBox(&boxbrush, cmins, cmaxs, supercontents, q3surfaceflags, texture);
+	Collision_BrushForBox(&thisbrush_start, startmins, startmaxs, 0, 0, NULL);
+	Collision_BrushForBox(&thisbrush_end, endmins, endmaxs, 0, 0, NULL);
+
+	memset(trace, 0, sizeof(trace_t));
+	trace->hitsupercontentsmask = hitsupercontentsmask;
+	trace->fraction = 1;
+	trace->realfraction = 1;
+	trace->allsolid = true;
+	Collision_TraceBrushBrushFloat(trace, &thisbrush_start.brush, &thisbrush_end.brush, &boxbrush.brush, &boxbrush.brush);
 }
 
-// LordHavoc: currently unused and not yet tested
+//pseudocode for detecting line/sphere overlap without calculating an impact point
+//linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
+
+// LordHavoc: currently unused, but tested
 // note: this can be used for tracing a moving sphere vs a stationary sphere,
 // by simply adding the moving sphere's radius to the sphereradius parameter,
 // all the results are correct (impactpoint, impactnormal, and fraction)
@@ -586,63 +1275,500 @@ float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double
 	double dir[3], scale, v[3], deviationdist, impactdist, linelength;
 	// make sure the impactpoint and impactnormal are valid even if there is
 	// no collision
-	impactpoint[0] = lineend[0];
-	impactpoint[1] = lineend[1];
-	impactpoint[2] = lineend[2];
-	impactnormal[0] = 0;
-	impactnormal[1] = 0;
-	impactnormal[2] = 0;
+	VectorCopy(lineend, impactpoint);
+	VectorClear(impactnormal);
 	// calculate line direction
-	dir[0] = lineend[0] - linestart[0];
-	dir[1] = lineend[1] - linestart[1];
-	dir[2] = lineend[2] - linestart[2];
+	VectorSubtract(lineend, linestart, dir);
 	// normalize direction
-	linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
+	linelength = VectorLength(dir);
 	if (linelength)
 	{
 		scale = 1.0 / linelength;
-		dir[0] *= scale;
-		dir[1] *= scale;
-		dir[2] *= scale;
+		VectorScale(dir, scale, dir);
 	}
 	// this dotproduct calculates the distance along the line at which the
 	// sphere origin is (nearest point to the sphere origin on the line)
-	impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
+	impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
 	// calculate point on line at that distance, and subtract the
 	// sphereorigin from it, so we have a vector to measure for the distance
 	// of the line from the sphereorigin (deviation, how off-center it is)
-	v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
-	v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
-	v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
-	deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
+	VectorMA(linestart, impactdist, dir, v);
+	VectorSubtract(v, sphereorigin, v);
+	deviationdist = VectorLength2(v);
 	// if outside the radius, it's a miss for sure
 	// (we do this comparison using squared radius to avoid a sqrt)
 	if (deviationdist > sphereradius*sphereradius)
 		return 1; // miss (off to the side)
 	// nudge back to find the correct impact distance
-	impactdist += (sqrt(deviationdist) - sphereradius);
+	impactdist -= sphereradius - deviationdist/sphereradius;
 	if (impactdist >= linelength)
 		return 1; // miss (not close enough)
 	if (impactdist < 0)
 		return 1; // miss (linestart is past or inside sphere)
 	// calculate new impactpoint
-	impactpoint[0] = linestart[0] + impactdist * dir[0];
-	impactpoint[1] = linestart[1] + impactdist * dir[1];
-	impactpoint[2] = linestart[2] + impactdist * dir[2];
+	VectorMA(linestart, impactdist, dir, impactpoint);
 	// calculate impactnormal (surface normal at point of impact)
-	impactnormal[0] = impactpoint[0] - sphereorigin[0];
-	impactnormal[1] = impactpoint[1] - sphereorigin[1];
-	impactnormal[2] = impactpoint[2] - sphereorigin[2];
+	VectorSubtract(impactpoint, sphereorigin, impactnormal);
 	// normalize impactnormal
-	scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
-	if (scale)
-	{
-		scale = 1.0 / sqrt(scale);
-		impactnormal[0] *= scale;
-		impactnormal[1] *= scale;
-		impactnormal[2] *= scale;
-	}
+	VectorNormalize(impactnormal);
 	// return fraction of movement distance
 	return impactdist / linelength;
 }
 
+void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2, int supercontents, int q3surfaceflags, const texture_t *texture)
+{
+#if 1
+	// more optimized
+	float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
+
+	// this function executes:
+	// 32 ops when line starts behind triangle
+	// 38 ops when line ends infront of triangle
+	// 43 ops when line fraction is already closer than this triangle
+	// 72 ops when line is outside edge 01
+	// 92 ops when line is outside edge 21
+	// 115 ops when line is outside edge 02
+	// 123 ops when line impacts triangle and updates trace results
+
+	// this code is designed for clockwise triangles, conversion to
+	// counterclockwise would require swapping some things around...
+	// it is easier to simply swap the point0 and point2 parameters to this
+	// function when calling it than it is to rewire the internals.
+
+	// calculate the faceplanenormal of the triangle, this represents the front side
+	// 15 ops
+	VectorSubtract(point0, point1, edge01);
+	VectorSubtract(point2, point1, edge21);
+	CrossProduct(edge01, edge21, faceplanenormal);
+	// there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
+	// 6 ops
+	faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
+	if (faceplanenormallength2 < 0.0001f)
+		return;
+	// calculate the distance
+	// 5 ops
+	faceplanedist = DotProduct(point0, faceplanenormal);
+
+	// if start point is on the back side there is no collision
+	// (we don't care about traces going through the triangle the wrong way)
+
+	// calculate the start distance
+	// 6 ops
+	d1 = DotProduct(faceplanenormal, linestart);
+	if (d1 <= faceplanedist)
+		return;
+
+	// calculate the end distance
+	// 6 ops
+	d2 = DotProduct(faceplanenormal, lineend);
+	// if both are in front, there is no collision
+	if (d2 >= faceplanedist)
+		return;
+
+	// from here on we know d1 is >= 0 and d2 is < 0
+	// this means the line starts infront and ends behind, passing through it
+
+	// calculate the recipricol of the distance delta,
+	// so we can use it multiple times cheaply (instead of division)
+	// 2 ops
+	d = 1.0f / (d1 - d2);
+	// calculate the impact fraction by taking the start distance (> 0)
+	// and subtracting the face plane distance (this is the distance of the
+	// triangle along that same normal)
+	// then multiply by the recipricol distance delta
+	// 2 ops
+	f = (d1 - faceplanedist) * d;
+	// skip out if this impact is further away than previous ones
+	// 1 ops
+	if (f > trace->realfraction)
+		return;
+	// calculate the perfect impact point for classification of insidedness
+	// 9 ops
+	impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
+	impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
+	impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
+
+	// calculate the edge normal and reject if impact is outside triangle
+	// (an edge normal faces away from the triangle, to get the desired normal
+	//  a crossproduct with the faceplanenormal is used, and because of the way
+	// the insidedness comparison is written it does not need to be normalized)
+
+	// first use the two edges from the triangle plane math
+	// the other edge only gets calculated if the point survives that long
+
+	// 20 ops
+	CrossProduct(edge01, faceplanenormal, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
+		return;
+
+	// 20 ops
+	CrossProduct(faceplanenormal, edge21, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
+		return;
+
+	// 23 ops
+	VectorSubtract(point0, point2, edge02);
+	CrossProduct(faceplanenormal, edge02, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
+		return;
+
+	// 8 ops (rare)
+
+	// store the new trace fraction
+	trace->realfraction = f;
+
+	// calculate a nudged fraction to keep it out of the surface
+	// (the main fraction remains perfect)
+	trace->fraction = f - collision_impactnudge.value * d;
+
+	if (collision_prefernudgedfraction.integer)
+		trace->realfraction = trace->fraction;
+
+	// store the new trace plane (because collisions only happen from
+	// the front this is always simply the triangle normal, never flipped)
+	d = 1.0 / sqrt(faceplanenormallength2);
+	VectorScale(faceplanenormal, d, trace->plane.normal);
+	trace->plane.dist = faceplanedist * d;
+
+	trace->hitsupercontents = supercontents;
+	trace->hitq3surfaceflags = q3surfaceflags;
+	trace->hittexture = texture;
+#else
+	float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
+
+	// this code is designed for clockwise triangles, conversion to
+	// counterclockwise would require swapping some things around...
+	// it is easier to simply swap the point0 and point2 parameters to this
+	// function when calling it than it is to rewire the internals.
+
+	// calculate the unnormalized faceplanenormal of the triangle,
+	// this represents the front side
+	TriangleNormal(point0, point1, point2, faceplanenormal);
+	// there's no point in processing a degenerate triangle
+	// (GIGO - Garbage In, Garbage Out)
+	if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
+		return;
+	// calculate the unnormalized distance
+	faceplanedist = DotProduct(point0, faceplanenormal);
+
+	// calculate the unnormalized start distance
+	d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
+	// if start point is on the back side there is no collision
+	// (we don't care about traces going through the triangle the wrong way)
+	if (d1 <= 0)
+		return;
+
+	// calculate the unnormalized end distance
+	d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
+	// if both are in front, there is no collision
+	if (d2 >= 0)
+		return;
+
+	// from here on we know d1 is >= 0 and d2 is < 0
+	// this means the line starts infront and ends behind, passing through it
+
+	// calculate the recipricol of the distance delta,
+	// so we can use it multiple times cheaply (instead of division)
+	d = 1.0f / (d1 - d2);
+	// calculate the impact fraction by taking the start distance (> 0)
+	// and subtracting the face plane distance (this is the distance of the
+	// triangle along that same normal)
+	// then multiply by the recipricol distance delta
+	f = d1 * d;
+	// skip out if this impact is further away than previous ones
+	if (f > trace->realfraction)
+		return;
+	// calculate the perfect impact point for classification of insidedness
+	impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
+	impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
+	impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
+
+	// calculate the edge normal and reject if impact is outside triangle
+	// (an edge normal faces away from the triangle, to get the desired normal
+	//  a crossproduct with the faceplanenormal is used, and because of the way
+	// the insidedness comparison is written it does not need to be normalized)
+
+	VectorSubtract(point2, point0, edge);
+	CrossProduct(edge, faceplanenormal, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
+		return;
+
+	VectorSubtract(point0, point1, edge);
+	CrossProduct(edge, faceplanenormal, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
+		return;
+
+	VectorSubtract(point1, point2, edge);
+	CrossProduct(edge, faceplanenormal, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
+		return;
+
+	// store the new trace fraction
+	trace->realfraction = bound(0, f, 1);
+
+	// store the new trace plane (because collisions only happen from
+	// the front this is always simply the triangle normal, never flipped)
+	VectorNormalize(faceplanenormal);
+	VectorCopy(faceplanenormal, trace->plane.normal);
+	trace->plane.dist = DotProduct(point0, faceplanenormal);
+
+	// calculate the normalized start and end distances
+	d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
+	d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
+
+	// calculate a nudged fraction to keep it out of the surface
+	// (the main fraction remains perfect)
+	fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
+	trace->fraction = bound(0, fnudged, 1);
+
+	// store the new trace endpos
+	// not needed, it's calculated later when the trace is finished
+	//trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
+	//trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
+	//trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
+	trace->hitsupercontents = supercontents;
+	trace->hitq3surfaceflags = q3surfaceflags;
+	trace->hittexture = texture;
+#endif
+}
+
+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 = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
+	bsp->mempool = mempool;
+	bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
+	return bsp;
+}
+
+void Collision_FreeCollisionBSPNode(colbspnode_t *node)
+{
+	if (node->children[0])
+		Collision_FreeCollisionBSPNode(node->children[0]);
+	if (node->children[1])
+		Collision_FreeCollisionBSPNode(node->children[1]);
+	while (--node->numcolbrushf)
+		Mem_Free(node->colbrushflist[node->numcolbrushf]);
+	//while (--node->numcolbrushd)
+	//	Mem_Free(node->colbrushdlist[node->numcolbrushd]);
+	Mem_Free(node);
+}
+
+void Collision_FreeCollisionBSP(colbsp_t *bsp)
+{
+	Collision_FreeCollisionBSPNode(bsp->nodes);
+	Mem_Free(bsp);
+}
+
+void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
+{
+	int i;
+	colpointf_t *ps, *pe;
+	float tempstart[3], tempend[3];
+	VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
+	VectorCopy(mins, maxs);
+	for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
+	{
+		VectorLerp(ps->v, startfrac, pe->v, tempstart);
+		VectorLerp(ps->v, endfrac, pe->v, tempend);
+		mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
+		mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
+		mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
+		maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
+		maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
+		maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
+	}
+	mins[0] -= 1;
+	mins[1] -= 1;
+	mins[2] -= 1;
+	maxs[0] += 1;
+	maxs[1] += 1;
+	maxs[2] += 1;
+}
+
+//===========================================
+
+void Collision_ClipToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask)
+{
+	float starttransformed[3], endtransformed[3];
+
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+
+	Matrix4x4_Transform(inversematrix, start, starttransformed);
+	Matrix4x4_Transform(inversematrix, end, endtransformed);
+#if COLLISIONPARANOID >= 3
+	Con_Printf("trans(%f %f %f -> %f %f %f, %f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2], end[0], end[1], end[2], endtransformed[0], endtransformed[1], endtransformed[2]);
+#endif
+
+	if (model && model->TraceBox)
+		model->TraceBox(model, frameblend, skeleton, trace, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask);
+	else
+		Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
+	trace->fraction = bound(0, trace->fraction, 1);
+	trace->realfraction = bound(0, trace->realfraction, 1);
+
+	VectorLerp(start, trace->fraction, end, trace->endpos);
+	// transform plane
+	// NOTE: this relies on plane.dist being directly after plane.normal
+	Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
+}
+
+void Collision_ClipToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontents)
+{
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+	if (model && model->TraceBox)
+		model->TraceBox(model, NULL, NULL, trace, start, mins, maxs, end, hitsupercontents);
+	trace->fraction = bound(0, trace->fraction, 1);
+	trace->realfraction = bound(0, trace->realfraction, 1);
+	VectorLerp(start, trace->fraction, end, trace->endpos);
+}
+
+void Collision_ClipLineToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, const vec3_t end, int hitsupercontentsmask)
+{
+	float starttransformed[3], endtransformed[3];
+
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+
+	Matrix4x4_Transform(inversematrix, start, starttransformed);
+	Matrix4x4_Transform(inversematrix, end, endtransformed);
+#if COLLISIONPARANOID >= 3
+	Con_Printf("trans(%f %f %f -> %f %f %f, %f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2], end[0], end[1], end[2], endtransformed[0], endtransformed[1], endtransformed[2]);
+#endif
+
+	if (model && model->TraceLine)
+		model->TraceLine(model, frameblend, skeleton, trace, starttransformed, endtransformed, hitsupercontentsmask);
+	else
+		Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, vec3_origin, vec3_origin, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
+	trace->fraction = bound(0, trace->fraction, 1);
+	trace->realfraction = bound(0, trace->realfraction, 1);
+
+	VectorLerp(start, trace->fraction, end, trace->endpos);
+	// transform plane
+	// NOTE: this relies on plane.dist being directly after plane.normal
+	Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
+}
+
+void Collision_ClipLineToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, const vec3_t end, int hitsupercontents)
+{
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+	if (model && model->TraceLine)
+		model->TraceLine(model, NULL, NULL, trace, start, end, hitsupercontents);
+	trace->fraction = bound(0, trace->fraction, 1);
+	trace->realfraction = bound(0, trace->realfraction, 1);
+	VectorLerp(start, trace->fraction, end, trace->endpos);
+}
+
+void Collision_ClipPointToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, int hitsupercontentsmask)
+{
+	float starttransformed[3];
+
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+
+	Matrix4x4_Transform(inversematrix, start, starttransformed);
+#if COLLISIONPARANOID >= 3
+	Con_Printf("trans(%f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2]);
+#endif
+
+	if (model && model->TracePoint)
+		model->TracePoint(model, NULL, NULL, trace, starttransformed, hitsupercontentsmask);
+	else
+		Collision_ClipTrace_Point(trace, bodymins, bodymaxs, starttransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
+
+	VectorCopy(start, trace->endpos);
+	// transform plane
+	// NOTE: this relies on plane.dist being directly after plane.normal
+	Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
+}
+
+void Collision_ClipPointToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, int hitsupercontents)
+{
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+	if (model && model->TracePoint)
+		model->TracePoint(model, NULL, NULL, trace, start, hitsupercontents);
+	VectorCopy(start, trace->endpos);
+}
+
+void Collision_CombineTraces(trace_t *cliptrace, const trace_t *trace, void *touch, qboolean isbmodel)
+{
+	// take the 'best' answers from the new trace and combine with existing data
+	if (trace->allsolid)
+		cliptrace->allsolid = true;
+	if (trace->startsolid)
+	{
+		if (isbmodel)
+			cliptrace->bmodelstartsolid = true;
+		cliptrace->startsolid = true;
+		if (cliptrace->realfraction == 1)
+			cliptrace->ent = touch;
+		if (cliptrace->startdepth > trace->startdepth)
+		{
+			cliptrace->startdepth = trace->startdepth;
+			VectorCopy(trace->startdepthnormal, cliptrace->startdepthnormal);
+		}
+	}
+	// don't set this except on the world, because it can easily confuse
+	// monsters underwater if there's a bmodel involved in the trace
+	// (inopen && inwater is how they check water visibility)
+	//if (trace->inopen)
+	//	cliptrace->inopen = true;
+	if (trace->inwater)
+		cliptrace->inwater = true;
+	if ((trace->realfraction <= cliptrace->realfraction) && (VectorLength2(trace->plane.normal) > 0))
+	{
+		cliptrace->fraction = trace->fraction;
+		cliptrace->realfraction = trace->realfraction;
+		VectorCopy(trace->endpos, cliptrace->endpos);
+		cliptrace->plane = trace->plane;
+		cliptrace->ent = touch;
+		cliptrace->hitsupercontents = trace->hitsupercontents;
+		cliptrace->hitq3surfaceflags = trace->hitq3surfaceflags;
+		cliptrace->hittexture = trace->hittexture;
+	}
+	cliptrace->startsupercontents |= trace->startsupercontents;
+}
+
+void Collision_ShortenTrace(trace_t *trace, float shorten_factor, const vec3_t end)
+{
+	// now undo our moving end 1 qu farther...
+	trace->fraction = bound(trace->fraction, trace->fraction / shorten_factor - 1e-6, 1); // we subtract 1e-6 to guard for roundoff errors
+	trace->realfraction = bound(trace->realfraction, trace->realfraction / shorten_factor - 1e-6, 1); // we subtract 1e-6 to guard for roundoff errors
+	if(trace->fraction >= 1) // trace would NOT hit if not expanded!
+	{
+		trace->fraction = 1;
+		trace->realfraction = 1;
+		VectorCopy(end, trace->endpos);
+		memset(&trace->plane, 0, sizeof(trace->plane));
+		trace->ent = NULL;
+		trace->hitsupercontentsmask = 0;
+		trace->hitsupercontents = 0;
+		trace->hitq3surfaceflags = 0;
+		trace->hittexture = NULL;
+	}
+}