collision.c

   1
   2 #include "quakedef.h"
   3 #include "polygon.h"
   4
   5 #define COLLISION_SNAPSCALE (32.0f)
   6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
   7 #define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
   8 #define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
   9
  10 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
  11 cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
  12 cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
  13 cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
  14 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
  15
  16 void Collision_Init (void)
  17 {
  18         Cvar_RegisterVariable(&collision_impactnudge);
  19         Cvar_RegisterVariable(&collision_startnudge);
  20         Cvar_RegisterVariable(&collision_endnudge);
  21         Cvar_RegisterVariable(&collision_enternudge);
  22         Cvar_RegisterVariable(&collision_leavenudge);
  23 }
  24
  25
  26
  27
  28
  29
  30
  31
  32
  33
  34
  35
  36
  37
  38 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
  39 {
  40         int i;
  41         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
  42         for (i = 0;i < brush->numpoints;i++)
  43                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
  44         // FIXME: optimize!
  45         Con_Printf("4\n%i\n", brush->numplanes);
  46         for (i = 0;i < brush->numplanes;i++)
  47                 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);
  48 }
  49
  50 void Collision_ValidateBrush(colbrushf_t *brush)
  51 {
  52         int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
  53         float d;
  54         printbrush = false;
  55         if (!brush->numpoints)
  56         {
  57                 Con_Print("Collision_ValidateBrush: brush with no points!\n");
  58                 printbrush = true;
  59         }
  60 #if 0
  61         // it's ok for a brush to have one point and no planes...
  62         if (brush->numplanes == 0 && brush->numpoints != 1)
  63         {
  64                 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
  65                 printbrush = true;
  66         }
  67 #endif
  68         if (brush->numplanes)
  69         {
  70                 pointsoffplanes = 0;
  71                 pointswithinsufficientplanes = 0;
  72                 for (k = 0;k < brush->numplanes;k++)
  73                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
  74                                 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);
  75                 for (j = 0;j < brush->numpoints;j++)
  76                 {
  77                         pointonplanes = 0;
  78                         for (k = 0;k < brush->numplanes;k++)
  79                         {
  80                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
  81                                 if (d > COLLISION_PLANE_DIST_EPSILON)
  82                                 {
  83                                         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);
  84                                         printbrush = true;
  85                                 }
  86                                 if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
  87                                         pointsoffplanes++;
  88                                 else
  89                                         pointonplanes++;
  90                         }
  91                         if (pointonplanes < 3)
  92                                 pointswithinsufficientplanes++;
  93                 }
  94                 if (pointswithinsufficientplanes)
  95                 {
  96                         Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
  97                         printbrush = true;
  98                 }
  99                 if (pointsoffplanes == 0) // all points are on all planes
 100                 {
 101                         Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 102                         printbrush = true;
 103                 }
 104         }
 105         if (printbrush)
 106                 Collision_PrintBrushAsQHull(brush, "unnamed");
 107 }
 108
 109 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 110 {
 111         float dist, bestdist;
 112         if (!numpoints)
 113                 return 0;
 114         bestdist = DotProduct(points->v, normal);
 115         points++;
 116         while(--numpoints)
 117         {
 118                 dist = DotProduct(points->v, normal);
 119                 bestdist = min(bestdist, dist);
 120                 points++;
 121         }
 122         return bestdist;
 123 }
 124
 125 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 126 {
 127         float dist, bestdist;
 128         if (!numpoints)
 129                 return 0;
 130         bestdist = DotProduct(points->v, normal);
 131         points++;
 132         while(--numpoints)
 133         {
 134                 dist = DotProduct(points->v, normal);
 135                 bestdist = max(bestdist, dist);
 136                 points++;
 137         }
 138         return bestdist;
 139 }
 140
 141
 142 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
 143 {
 144         // TODO: planesbuf could be replaced by a remapping table
 145         int j, k, m, w, xyzflags;
 146         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
 147         double maxdist;
 148         colbrushf_t *brush;
 149         colpointf_t pointsbuf[256];
 150         colplanef_t planesbuf[256];
 151         int elementsbuf[1024];
 152         int polypointbuf[256];
 153         int pmaxpoints = 64;
 154         int pnumpoints;
 155         double p[2][3*64];
 156 #if 0
 157         // enable these if debugging to avoid seeing garbage in unused data
 158         memset(pointsbuf, 0, sizeof(pointsbuf));
 159         memset(planesbuf, 0, sizeof(planesbuf));
 160         memset(elementsbuf, 0, sizeof(elementsbuf));
 161         memset(polypointbuf, 0, sizeof(polypointbuf));
 162         memset(p, 0, sizeof(p));
 163 #endif
 164         // figure out how large a bounding box we need to properly compute this brush
 165         maxdist = 0;
 166         for (j = 0;j < numoriginalplanes;j++)
 167                 maxdist = max(maxdist, fabs(originalplanes[j].dist));
 168         // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
 169         maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
 170         // construct a collision brush (points, planes, and renderable mesh) from
 171         // a set of planes, this also optimizes out any unnecessary planes (ones
 172         // whose polygon is clipped away by the other planes)
 173         for (j = 0;j < numoriginalplanes;j++)
 174         {
 175                 // add the plane uniquely (no duplicates)
 176                 for (k = 0;k < numplanesbuf;k++)
 177                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 178                                 break;
 179                 // if the plane is a duplicate, skip it
 180                 if (k < numplanesbuf)
 181                         continue;
 182                 // check if there are too many and skip the brush
 183                 if (numplanesbuf >= maxplanesbuf)
 184                 {
 185                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
 186                         return NULL;
 187                 }
 188
 189                 // add the new plane
 190                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
 191                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
 192                 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
 193                 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
 194                 numplanesbuf++;
 195
 196                 // create a large polygon from the plane
 197                 w = 0;
 198                 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
 199                 pnumpoints = 4;
 200                 // clip it by all other planes
 201                 for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
 202                 {
 203                         // skip the plane this polygon
 204                         // (nothing happens if it is processed, this is just an optimization)
 205                         if (k != j)
 206                         {
 207                                 // we want to keep the inside of the brush plane so we flip
 208                                 // the cutting plane
 209                                 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);
 210                                 w = !w;
 211                         }
 212                 }
 213
 214                 // if nothing is left, skip it
 215                 if (pnumpoints < 3)
 216                 {
 217                         //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);
 218                         continue;
 219                 }
 220
 221                 for (k = 0;k < pnumpoints;k++)
 222                 {
 223                         int l, m;
 224                         m = 0;
 225                         for (l = 0;l < numoriginalplanes;l++)
 226                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
 227                                         m++;
 228                         if (m < 3)
 229                                 break;
 230                 }
 231                 if (k < pnumpoints)
 232                 {
 233                         Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
 234                         //return NULL;
 235                 }
 236
 237                 // check if there are too many polygon vertices for buffer
 238                 if (pnumpoints > pmaxpoints)
 239                 {
 240                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 241                         return NULL;
 242                 }
 243
 244                 // check if there are too many triangle elements for buffer
 245                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
 246                 {
 247                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 248                         return NULL;
 249                 }
 250
 251                 for (k = 0;k < pnumpoints;k++)
 252                 {
 253                         float v[3];
 254                         // downgrade to float precision before comparing
 255                         VectorCopy(&p[w][k*3], v);
 256
 257                         // check if there is already a matching point (no duplicates)
 258                         for (m = 0;m < numpointsbuf;m++)
 259                                 if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
 260                                         break;
 261
 262                         // if there is no match, add a new one
 263                         if (m == numpointsbuf)
 264                         {
 265                                 // check if there are too many and skip the brush
 266                                 if (numpointsbuf >= maxpointsbuf)
 267                                 {
 268                                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 269                                         return NULL;
 270                                 }
 271                                 // add the new one
 272                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
 273                                 numpointsbuf++;
 274                         }
 275
 276                         // store the index into a buffer
 277                         polypointbuf[k] = m;
 278                 }
 279
 280                 // add the triangles for the polygon
 281                 // (this particular code makes a triangle fan)
 282                 for (k = 0;k < pnumpoints - 2;k++)
 283                 {
 284                         elementsbuf[numelementsbuf++] = polypointbuf[0];
 285                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
 286                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
 287                 }
 288         }
 289
 290         // if nothing is left, there's nothing to allocate
 291         if (numplanesbuf < 4)
 292         {
 293                 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);
 294                 return NULL;
 295         }
 296
 297         // if no triangles or points could be constructed, then this routine failed but the brush is not discarded
 298         if (numelementsbuf < 12 || numpointsbuf < 4)
 299                 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);
 300
 301         // validate plane distances
 302         for (j = 0;j < numplanesbuf;j++)
 303         {
 304                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
 305                 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
 306                         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);
 307         }
 308
 309         // allocate the brush and copy to it
 310         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
 311         brush->supercontents = supercontents;
 312         brush->numplanes = numplanesbuf;
 313         brush->numpoints = numpointsbuf;
 314         brush->numtriangles = numelementsbuf / 3;
 315         brush->planes = (colplanef_t *)(brush + 1);
 316         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
 317         brush->elements = (int *)(brush->points + brush->numpoints);
 318         for (j = 0;j < brush->numpoints;j++)
 319         {
 320                 brush->points[j].v[0] = pointsbuf[j].v[0];
 321                 brush->points[j].v[1] = pointsbuf[j].v[1];
 322                 brush->points[j].v[2] = pointsbuf[j].v[2];
 323         }
 324         for (j = 0;j < brush->numplanes;j++)
 325         {
 326                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
 327                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
 328                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
 329                 brush->planes[j].dist = planesbuf[j].dist;
 330                 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
 331                 brush->planes[j].texture = planesbuf[j].texture;
 332         }
 333         for (j = 0;j < brush->numtriangles * 3;j++)
 334                 brush->elements[j] = elementsbuf[j];
 335
 336         xyzflags = 0;
 337         VectorClear(brush->mins);
 338         VectorClear(brush->maxs);
 339         for (j = 0;j < min(6, numoriginalplanes);j++)
 340         {
 341                      if (originalplanes[j].normal[0] ==  1) {xyzflags |=  1;brush->maxs[0] =  originalplanes[j].dist;}
 342                 else if (originalplanes[j].normal[0] == -1) {xyzflags |=  2;brush->mins[0] = -originalplanes[j].dist;}
 343                 else if (originalplanes[j].normal[1] ==  1) {xyzflags |=  4;brush->maxs[1] =  originalplanes[j].dist;}
 344                 else if (originalplanes[j].normal[1] == -1) {xyzflags |=  8;brush->mins[1] = -originalplanes[j].dist;}
 345                 else if (originalplanes[j].normal[2] ==  1) {xyzflags |= 16;brush->maxs[2] =  originalplanes[j].dist;}
 346                 else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
 347         }
 348         // if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
 349         // (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)
 350         if (xyzflags != 63)
 351         {
 352                 VectorCopy(brush->points[0].v, brush->mins);
 353                 VectorCopy(brush->points[0].v, brush->maxs);
 354                 for (j = 1;j < brush->numpoints;j++)
 355                 {
 356                         brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
 357                         brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
 358                         brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
 359                         brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
 360                         brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
 361                         brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
 362                 }
 363         }
 364         brush->mins[0] -= 1;
 365         brush->mins[1] -= 1;
 366         brush->mins[2] -= 1;
 367         brush->maxs[0] += 1;
 368         brush->maxs[1] += 1;
 369         brush->maxs[2] += 1;
 370         Collision_ValidateBrush(brush);
 371         return brush;
 372 }
 373
 374
 375
 376 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 377 {
 378         int i;
 379         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
 380         colpointf_t *p, *p2;
 381
 382         // FIXME: these probably don't actually need to be normalized if the collision code does not care
 383         if (brush->numpoints == 3)
 384         {
 385                 // optimized triangle case
 386                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 387                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 388                 {
 389                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 390                         brush->numplanes = 0;
 391                         return;
 392                 }
 393                 else
 394                 {
 395                         brush->numplanes = 5;
 396                         VectorNormalize(brush->planes[0].normal);
 397                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 398                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 399                         brush->planes[1].dist = -brush->planes[0].dist;
 400                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 401                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 402                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 403 #if 1
 404                         {
 405                                 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
 406                                 int i, best;
 407                                 float dist, bestdist;
 408                                 bestdist = fabs(brush->planes[0].normal[0]);
 409                                 best = 0;
 410                                 for (i = 1;i < 3;i++)
 411                                 {
 412                                         dist = fabs(brush->planes[0].normal[i]);
 413                                         if (bestdist < dist)
 414                                         {
 415                                                 bestdist = dist;
 416                                                 best = i;
 417                                         }
 418                                 }
 419                                 VectorClear(projectionnormal);
 420                                 if (brush->planes[0].normal[best] < 0)
 421                                         projectionnormal[best] = -1;
 422                                 else
 423                                         projectionnormal[best] = 1;
 424                                 VectorCopy(edge0, projectionedge0);
 425                                 VectorCopy(edge1, projectionedge1);
 426                                 VectorCopy(edge2, projectionedge2);
 427                                 projectionedge0[best] = 0;
 428                                 projectionedge1[best] = 0;
 429                                 projectionedge2[best] = 0;
 430                                 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
 431                                 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
 432                                 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
 433                         }
 434 #else
 435                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 436                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 437                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 438 #endif
 439                         VectorNormalize(brush->planes[2].normal);
 440                         VectorNormalize(brush->planes[3].normal);
 441                         VectorNormalize(brush->planes[4].normal);
 442                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 443                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 444                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 445
 446                         if (developer.integer >= 100)
 447                         {
 448                                 // validation code
 449 #if 0
 450                                 float temp[3];
 451
 452                                 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 453                                 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 454                                 CrossProduct(edge0, edge1, normal);
 455                                 VectorNormalize(normal);
 456                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 457                                 if (VectorLength(temp) > 0.01f)
 458                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: TriangleNormal gave wrong answer (%f %f %f != correct answer %f %f %f)\n", brush->planes->normal[0], brush->planes->normal[1], brush->planes->normal[2], normal[0], normal[1], normal[2]);
 459                                 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)
 460                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 1 (%f %f %f %f) is not opposite plane 0 (%f %f %f %f)\n", brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
 461 #if 0
 462                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 463                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[2].dist);
 464                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 465                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[3].dist);
 466                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 467                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[4].dist);
 468                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 469                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to edge 0 (%f %f %f to %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2]);
 470                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 471                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to edge 1 (%f %f %f to %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2]);
 472                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 473                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to edge 2 (%f %f %f to %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2]);
 474 #endif
 475 #endif
 476                                 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)
 477                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off front plane 0 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
 478                                 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)
 479                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off back plane 1 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist);
 480                                 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)
 481                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist);
 482                                 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)
 483                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist);
 484                                 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)
 485                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist);
 486                         }
 487                 }
 488         }
 489         else
 490         {
 491                 // choose best surface normal for polygon's plane
 492                 bestdist = 0;
 493                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 494                 {
 495                         VectorSubtract(p[-1].v, p[0].v, edge0);
 496                         VectorSubtract(p[1].v, p[0].v, edge1);
 497                         CrossProduct(edge0, edge1, normal);
 498                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 499                         dist = DotProduct(normal, normal);
 500                         if (i == 0 || bestdist < dist)
 501                         {
 502                                 bestdist = dist;
 503                                 VectorCopy(normal, brush->planes->normal);
 504                         }
 505                 }
 506                 if (bestdist < 0.0001f)
 507                 {
 508                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 509                         brush->numplanes = 0;
 510                         return;
 511                 }
 512                 else
 513                 {
 514                         brush->numplanes = brush->numpoints + 2;
 515                         VectorNormalize(brush->planes->normal);
 516                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 517
 518                         // negate plane to create other side
 519                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 520                         brush->planes[1].dist = -brush->planes[0].dist;
 521                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 522                         {
 523                                 VectorSubtract(p->v, p2->v, edge0);
 524                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 525                                 VectorNormalize(brush->planes[i + 2].normal);
 526                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 527                         }
 528                 }
 529         }
 530
 531         if (developer.integer >= 100)
 532         {
 533                 // validity check - will be disabled later
 534                 Collision_ValidateBrush(brush);
 535                 for (i = 0;i < brush->numplanes;i++)
 536                 {
 537                         int j;
 538                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 539                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
 540                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 541                 }
 542         }
 543 }
 544
 545 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 546 {
 547         colbrushf_t *brush;
 548         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 549         brush->supercontents = supercontents;
 550         brush->numpoints = numpoints;
 551         brush->numplanes = numpoints + 2;
 552         brush->planes = (colplanef_t *)(brush + 1);
 553         brush->points = (colpointf_t *)points;
 554         Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
 555         return brush;
 556 }
 557
 558 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 559 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)
 560 {
 561         int nplane, nplane2, hitq3surfaceflags = 0;
 562         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 563         const colplanef_t *startplane, *endplane;
 564         texture_t *hittexture = NULL;
 565
 566         VectorClear(newimpactnormal);
 567
 568         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 569         {
 570                 nplane2 = nplane;
 571                 if (nplane2 >= thatbrush_start->numplanes)
 572                 {
 573                         nplane2 -= thatbrush_start->numplanes;
 574                         startplane = thisbrush_start->planes + nplane2;
 575                         endplane = thisbrush_end->planes + nplane2;
 576                         if (developer.integer >= 100)
 577                         {
 578                                 // any brush with degenerate planes is not worth handling
 579                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 580                                 {
 581                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 582                                         return;
 583                                 }
 584                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 585                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 586                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 587                         }
 588                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
 589                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
 590                 }
 591                 else
 592                 {
 593                         startplane = thatbrush_start->planes + nplane2;
 594                         endplane = thatbrush_end->planes + nplane2;
 595                         if (developer.integer >= 100)
 596                         {
 597                                 // any brush with degenerate planes is not worth handling
 598                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 599                                 {
 600                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 601                                         return;
 602                                 }
 603                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 604                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 605                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 606                         }
 607                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
 608                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
 609                 }
 610                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 611
 612                 if (d1 > d2)
 613                 {
 614                         // moving into brush
 615                         if (d2 > 0)
 616                                 return;
 617                         if (d1 > 0)
 618                         {
 619                                 // enter
 620                                 imove = 1 / (d1 - d2);
 621                                 f = (d1 - collision_enternudge.value) * imove;
 622                                 // check if this will reduce the collision time range
 623                                 if (enterfrac < f)
 624                                 {
 625                                         // reduced collision time range
 626                                         enterfrac = f;
 627                                         // if the collision time range is now empty, no collision
 628                                         if (enterfrac > leavefrac)
 629                                                 return;
 630                                         // if the collision would be further away than the trace's
 631                                         // existing collision data, we don't care about this
 632                                         // collision
 633                                         if (enterfrac > trace->realfraction)
 634                                                 return;
 635                                         // calculate the nudged fraction and impact normal we'll
 636                                         // need if we accept this collision later
 637                                         enterfrac2 = f - collision_impactnudge.value * imove;
 638                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 639                                         hitq3surfaceflags = startplane->q3surfaceflags;
 640                                         hittexture = startplane->texture;
 641                                 }
 642                         }
 643                 }
 644                 else
 645                 {
 646                         // moving out of brush
 647                         if (d1 > 0)
 648                                 return;
 649                         if (d2 > 0)
 650                         {
 651                                 // leave
 652                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 653                                 // check if this will reduce the collision time range
 654                                 if (leavefrac > f)
 655                                 {
 656                                         // reduced collision time range
 657                                         leavefrac = f;
 658                                         // if the collision time range is now empty, no collision
 659                                         if (enterfrac > leavefrac)
 660                                                 return;
 661                                 }
 662                         }
 663                 }
 664         }
 665
 666         // at this point we know the trace overlaps the brush because it was not
 667         // rejected at any point in the loop above
 668
 669         // see if this brush can block the trace or not according to contents
 670         if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
 671         {
 672                 if (enterfrac == -1)
 673                 {
 674                         trace->startsupercontents |= thatbrush_start->supercontents;
 675                         trace->startsolid = true;
 676                         if (leavefrac < 1)
 677                                 trace->allsolid = true;
 678                 }
 679                 // store out the impact information
 680                 trace->hitsupercontents = thatbrush_start->supercontents;
 681                 trace->hitq3surfaceflags = hitq3surfaceflags;
 682                 trace->hittexture = hittexture;
 683                 trace->realfraction = bound(0, enterfrac, 1);
 684                 trace->fraction = bound(0, enterfrac2, 1);
 685                 VectorCopy(newimpactnormal, trace->plane.normal);
 686         }
 687         else
 688         {
 689                 // this brush can not block the trace, but it can update start contents
 690                 if (enterfrac == -1)
 691                         trace->startsupercontents |= thatbrush_start->supercontents;
 692         }
 693 }
 694
 695 // NOTE: start and end brush pair must have same numplanes/numpoints
 696 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 697 {
 698         int nplane, hitq3surfaceflags = 0;
 699         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 700         const colplanef_t *startplane, *endplane;
 701         texture_t *hittexture = NULL;
 702
 703         VectorClear(newimpactnormal);
 704
 705         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 706         {
 707                 startplane = thatbrush_start->planes + nplane;
 708                 endplane = thatbrush_end->planes + nplane;
 709                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
 710                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
 711                 if (developer.integer >= 100)
 712                 {
 713                         // any brush with degenerate planes is not worth handling
 714                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 715                         {
 716                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
 717                                 return;
 718                         }
 719                         if (thatbrush_start->numpoints)
 720                         {
 721                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 722                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 723                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 724                         }
 725                 }
 726
 727                 if (d1 > d2)
 728                 {
 729                         // moving into brush
 730                         if (d2 > 0)
 731                                 return;
 732                         if (d1 > 0)
 733                         {
 734                                 // enter
 735                                 imove = 1 / (d1 - d2);
 736                                 f = (d1 - collision_enternudge.value) * imove;
 737                                 // check if this will reduce the collision time range
 738                                 if (enterfrac < f)
 739                                 {
 740                                         // reduced collision time range
 741                                         enterfrac = f;
 742                                         // if the collision time range is now empty, no collision
 743                                         if (enterfrac > leavefrac)
 744                                                 return;
 745                                         // if the collision would be further away than the trace's
 746                                         // existing collision data, we don't care about this
 747                                         // collision
 748                                         if (enterfrac > trace->realfraction)
 749                                                 return;
 750                                         // calculate the nudged fraction and impact normal we'll
 751                                         // need if we accept this collision later
 752                                         enterfrac2 = f - collision_impactnudge.value * imove;
 753                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 754                                         hitq3surfaceflags = startplane->q3surfaceflags;
 755                                         hittexture = startplane->texture;
 756                                 }
 757                         }
 758                 }
 759                 else
 760                 {
 761                         // moving out of brush
 762                         if (d1 > 0)
 763                                 return;
 764                         if (d2 > 0)
 765                         {
 766                                 // leave
 767                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 768                                 // check if this will reduce the collision time range
 769                                 if (leavefrac > f)
 770                                 {
 771                                         // reduced collision time range
 772                                         leavefrac = f;
 773                                         // if the collision time range is now empty, no collision
 774                                         if (enterfrac > leavefrac)
 775                                                 return;
 776                                 }
 777                         }
 778                 }
 779         }
 780
 781         // at this point we know the trace overlaps the brush because it was not
 782         // rejected at any point in the loop above
 783
 784         // see if this brush can block the trace or not according to contents
 785         if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
 786         {
 787                 if (enterfrac == -1)
 788                 {
 789                         trace->startsupercontents |= thatbrush_start->supercontents;
 790                         trace->startsolid = true;
 791                         if (leavefrac < 1)
 792                                 trace->allsolid = true;
 793                 }
 794                 // store out the impact information
 795                 trace->hitsupercontents = thatbrush_start->supercontents;
 796                 trace->hitq3surfaceflags = hitq3surfaceflags;
 797                 trace->hittexture = hittexture;
 798                 trace->realfraction = bound(0, enterfrac, 1);
 799                 trace->fraction = bound(0, enterfrac2, 1);
 800                 VectorCopy(newimpactnormal, trace->plane.normal);
 801         }
 802         else
 803         {
 804                 // this brush can not block the trace, but it can update start contents
 805                 if (enterfrac == -1)
 806                         trace->startsupercontents |= thatbrush_start->supercontents;
 807         }
 808 }
 809
 810 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 811 {
 812         int nplane;
 813         const colplanef_t *plane;
 814
 815         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
 816                 if (DotProduct(plane->normal, point) > plane->dist)
 817                         return;
 818
 819         trace->startsupercontents |= thatbrush->supercontents;
 820         if (trace->hitsupercontentsmask & thatbrush->supercontents)
 821         {
 822                 trace->startsolid = true;
 823                 trace->allsolid = true;
 824         }
 825 }
 826
 827 static colpointf_t polyf_points[256];
 828 static colplanef_t polyf_planes[256 + 2];
 829 static colbrushf_t polyf_brush;
 830
 831 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 832 {
 833         while (numpoints--)
 834         {
 835                 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
 836                 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
 837                 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
 838         }
 839 }
 840
 841 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 842 {
 843         if (numpoints > 256)
 844         {
 845                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 846                 return;
 847         }
 848         polyf_brush.numpoints = numpoints;
 849         polyf_brush.numplanes = numpoints + 2;
 850         //polyf_brush.points = (colpointf_t *)points;
 851         polyf_brush.planes = polyf_planes;
 852         polyf_brush.supercontents = supercontents;
 853         polyf_brush.points = polyf_points;
 854         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 855         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 856         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 857         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 858 }
 859
 860 void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 861 {
 862         int i;
 863         float facemins[3], facemaxs[3];
 864         polyf_brush.numpoints = 3;
 865         polyf_brush.numplanes = 5;
 866         polyf_brush.points = polyf_points;
 867         polyf_brush.planes = polyf_planes;
 868         polyf_brush.supercontents = supercontents;
 869         for (i = 0;i < polyf_brush.numplanes;i++)
 870         {
 871                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 872                 polyf_brush.planes[i].texture = texture;
 873         }
 874         for (i = 0;i < numtriangles;i++, element3i += 3)
 875         {
 876                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 877                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 878                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 879                 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 880                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 881                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 882                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 883                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 884                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 885                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 886                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 887                 {
 888                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 889                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 890                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 891                 }
 892         }
 893 }
 894
 895 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 896 {
 897         if (numpoints > 256)
 898         {
 899                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 900                 return;
 901         }
 902         polyf_brush.numpoints = numpoints;
 903         polyf_brush.numplanes = numpoints + 2;
 904         //polyf_brush.points = (colpointf_t *)points;
 905         polyf_brush.points = polyf_points;
 906         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 907         polyf_brush.planes = polyf_planes;
 908         polyf_brush.supercontents = supercontents;
 909         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 910         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 911         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 912 }
 913
 914 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
 915 {
 916         int i;
 917 #if 1
 918         // FIXME: snap vertices?
 919         for (i = 0;i < numtriangles;i++, element3i += 3)
 920                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
 921 #else
 922         polyf_brush.numpoints = 3;
 923         polyf_brush.numplanes = 5;
 924         polyf_brush.points = polyf_points;
 925         polyf_brush.planes = polyf_planes;
 926         polyf_brush.supercontents = supercontents;
 927         for (i = 0;i < polyf_brush.numplanes;i++)
 928         {
 929                 polyf_brush.planes[i].supercontents = supercontents;
 930                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 931                 polyf_brush.planes[i].texture = texture;
 932         }
 933         for (i = 0;i < numtriangles;i++, element3i += 3)
 934         {
 935                 float facemins[3], facemaxs[3];
 936                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 937                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 938                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 939                 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 940                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 941                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 942                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 943                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 944                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 945                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 946                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 947                 {
 948                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 949                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 950                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 951                 }
 952         }
 953 #endif
 954 }
 955
 956
 957 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 958 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 959 static colbrushf_t polyf_brushstart, polyf_brushend;
 960
 961 void Collision_TraceBrushPolygonTransformFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, const matrix4x4_t *polygonmatrixstart, const matrix4x4_t *polygonmatrixend, int supercontents, int q3surfaceflags, texture_t *texture)
 962 {
 963         int i;
 964         if (numpoints > 256)
 965         {
 966                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 967                 return;
 968         }
 969         polyf_brushstart.numpoints = numpoints;
 970         polyf_brushstart.numplanes = numpoints + 2;
 971         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 972         polyf_brushstart.planes = polyf_planesstart;
 973         polyf_brushstart.supercontents = supercontents;
 974         for (i = 0;i < numpoints;i++)
 975                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 976         polyf_brushend.numpoints = numpoints;
 977         polyf_brushend.numplanes = numpoints + 2;
 978         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 979         polyf_brushend.planes = polyf_planesend;
 980         polyf_brushend.supercontents = supercontents;
 981         for (i = 0;i < numpoints;i++)
 982                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 983         for (i = 0;i < polyf_brushstart.numplanes;i++)
 984         {
 985                 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
 986                 polyf_brushstart.planes[i].texture = texture;
 987         }
 988         Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
 989         Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
 990         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 991         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 992
 993         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
 994         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 995
 996         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 997 }
 998
 999
1000
1001 #define MAX_BRUSHFORBOX 16
1002 static int brushforbox_index = 0;
1003 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1004 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1005 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1006 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1007
1008 void Collision_InitBrushForBox(void)
1009 {
1010         int i;
1011         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1012         {
1013                 brushforbox_brush[i].numpoints = 8;
1014                 brushforbox_brush[i].numplanes = 6;
1015                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1016                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1017                 brushforpoint_brush[i].numpoints = 1;
1018                 brushforpoint_brush[i].numplanes = 0;
1019                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1020                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1021         }
1022 }
1023
1024 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1025 {
1026         int i, j;
1027         vec3_t v;
1028         colbrushf_t *brush;
1029         if (brushforbox_brush[0].numpoints == 0)
1030                 Collision_InitBrushForBox();
1031         // FIXME: these probably don't actually need to be normalized if the collision code does not care
1032         if (VectorCompare(mins, maxs))
1033         {
1034                 // point brush
1035                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1036                 VectorCopy(mins, brush->points->v);
1037         }
1038         else
1039         {
1040                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1041                 // FIXME: optimize
1042                 for (i = 0;i < 8;i++)
1043                 {
1044                         v[0] = i & 1 ? maxs[0] : mins[0];
1045                         v[1] = i & 2 ? maxs[1] : mins[1];
1046                         v[2] = i & 4 ? maxs[2] : mins[2];
1047                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1048                 }
1049                 // FIXME: optimize!
1050                 for (i = 0;i < 6;i++)
1051                 {
1052                         VectorClear(v);
1053                         v[i >> 1] = i & 1 ? 1 : -1;
1054                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1055                         VectorNormalize(brush->planes[i].normal);
1056                 }
1057         }
1058         brush->supercontents = supercontents;
1059         for (j = 0;j < brush->numplanes;j++)
1060         {
1061                 brush->planes[j].q3surfaceflags = q3surfaceflags;
1062                 brush->planes[j].texture = texture;
1063                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1064         }
1065         VectorCopy(brush->points[0].v, brush->mins);
1066         VectorCopy(brush->points[0].v, brush->maxs);
1067         for (j = 1;j < brush->numpoints;j++)
1068         {
1069                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1070                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1071                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1072                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1073                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1074                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1075         }
1076         brush->mins[0] -= 1;
1077         brush->mins[1] -= 1;
1078         brush->mins[2] -= 1;
1079         brush->maxs[0] += 1;
1080         brush->maxs[1] += 1;
1081         brush->maxs[2] += 1;
1082         Collision_ValidateBrush(brush);
1083         return brush;
1084 }
1085
1086 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)
1087 {
1088         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1089         vec3_t startmins, startmaxs, endmins, endmaxs;
1090
1091         // create brushes for the collision
1092         VectorAdd(start, mins, startmins);
1093         VectorAdd(start, maxs, startmaxs);
1094         VectorAdd(end, mins, endmins);
1095         VectorAdd(end, maxs, endmaxs);
1096         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1097         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1098         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1099
1100         memset(trace, 0, sizeof(trace_t));
1101         trace->hitsupercontentsmask = hitsupercontentsmask;
1102         trace->fraction = 1;
1103         trace->realfraction = 1;
1104         trace->allsolid = true;
1105         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1106 }
1107
1108 //pseudocode for detecting line/sphere overlap without calculating an impact point
1109 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1110
1111 // LordHavoc: currently unused, but tested
1112 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1113 // by simply adding the moving sphere's radius to the sphereradius parameter,
1114 // all the results are correct (impactpoint, impactnormal, and fraction)
1115 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1116 {
1117         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1118         // make sure the impactpoint and impactnormal are valid even if there is
1119         // no collision
1120         VectorCopy(lineend, impactpoint);
1121         VectorClear(impactnormal);
1122         // calculate line direction
1123         VectorSubtract(lineend, linestart, dir);
1124         // normalize direction
1125         linelength = VectorLength(dir);
1126         if (linelength)
1127         {
1128                 scale = 1.0 / linelength;
1129                 VectorScale(dir, scale, dir);
1130         }
1131         // this dotproduct calculates the distance along the line at which the
1132         // sphere origin is (nearest point to the sphere origin on the line)
1133         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1134         // calculate point on line at that distance, and subtract the
1135         // sphereorigin from it, so we have a vector to measure for the distance
1136         // of the line from the sphereorigin (deviation, how off-center it is)
1137         VectorMA(linestart, impactdist, dir, v);
1138         VectorSubtract(v, sphereorigin, v);
1139         deviationdist = VectorLength2(v);
1140         // if outside the radius, it's a miss for sure
1141         // (we do this comparison using squared radius to avoid a sqrt)
1142         if (deviationdist > sphereradius*sphereradius)
1143                 return 1; // miss (off to the side)
1144         // nudge back to find the correct impact distance
1145         impactdist += deviationdist - sphereradius;
1146         if (impactdist >= linelength)
1147                 return 1; // miss (not close enough)
1148         if (impactdist < 0)
1149                 return 1; // miss (linestart is past or inside sphere)
1150         // calculate new impactpoint
1151         VectorMA(linestart, impactdist, dir, impactpoint);
1152         // calculate impactnormal (surface normal at point of impact)
1153         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1154         // normalize impactnormal
1155         VectorNormalize(impactnormal);
1156         // return fraction of movement distance
1157         return impactdist / linelength;
1158 }
1159
1160 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, texture_t *texture)
1161 {
1162 #if 1
1163         // more optimized
1164         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1165
1166         // this function executes:
1167         // 32 ops when line starts behind triangle
1168         // 38 ops when line ends infront of triangle
1169         // 43 ops when line fraction is already closer than this triangle
1170         // 72 ops when line is outside edge 01
1171         // 92 ops when line is outside edge 21
1172         // 115 ops when line is outside edge 02
1173         // 123 ops when line impacts triangle and updates trace results
1174
1175         // this code is designed for clockwise triangles, conversion to
1176         // counterclockwise would require swapping some things around...
1177         // it is easier to simply swap the point0 and point2 parameters to this
1178         // function when calling it than it is to rewire the internals.
1179
1180         // calculate the faceplanenormal of the triangle, this represents the front side
1181         // 15 ops
1182         VectorSubtract(point0, point1, edge01);
1183         VectorSubtract(point2, point1, edge21);
1184         CrossProduct(edge01, edge21, faceplanenormal);
1185         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1186         // 6 ops
1187         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1188         if (faceplanenormallength2 < 0.0001f)
1189                 return;
1190         // calculate the distance
1191         // 5 ops
1192         faceplanedist = DotProduct(point0, faceplanenormal);
1193
1194         // if start point is on the back side there is no collision
1195         // (we don't care about traces going through the triangle the wrong way)
1196
1197         // calculate the start distance
1198         // 6 ops
1199         d1 = DotProduct(faceplanenormal, linestart);
1200         if (d1 <= faceplanedist)
1201                 return;
1202
1203         // calculate the end distance
1204         // 6 ops
1205         d2 = DotProduct(faceplanenormal, lineend);
1206         // if both are in front, there is no collision
1207         if (d2 >= faceplanedist)
1208                 return;
1209
1210         // from here on we know d1 is >= 0 and d2 is < 0
1211         // this means the line starts infront and ends behind, passing through it
1212
1213         // calculate the recipricol of the distance delta,
1214         // so we can use it multiple times cheaply (instead of division)
1215         // 2 ops
1216         d = 1.0f / (d1 - d2);
1217         // calculate the impact fraction by taking the start distance (> 0)
1218         // and subtracting the face plane distance (this is the distance of the
1219         // triangle along that same normal)
1220         // then multiply by the recipricol distance delta
1221         // 2 ops
1222         f = (d1 - faceplanedist) * d;
1223         // skip out if this impact is further away than previous ones
1224         // 1 ops
1225         if (f > trace->realfraction)
1226                 return;
1227         // calculate the perfect impact point for classification of insidedness
1228         // 9 ops
1229         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1230         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1231         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1232
1233         // calculate the edge normal and reject if impact is outside triangle
1234         // (an edge normal faces away from the triangle, to get the desired normal
1235         //  a crossproduct with the faceplanenormal is used, and because of the way
1236         // the insidedness comparison is written it does not need to be normalized)
1237
1238         // first use the two edges from the triangle plane math
1239         // the other edge only gets calculated if the point survives that long
1240
1241         // 20 ops
1242         CrossProduct(edge01, faceplanenormal, edgenormal);
1243         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1244                 return;
1245
1246         // 20 ops
1247         CrossProduct(faceplanenormal, edge21, edgenormal);
1248         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1249                 return;
1250
1251         // 23 ops
1252         VectorSubtract(point0, point2, edge02);
1253         CrossProduct(faceplanenormal, edge02, edgenormal);
1254         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1255                 return;
1256
1257         // 8 ops (rare)
1258
1259         // store the new trace fraction
1260         trace->realfraction = f;
1261
1262         // calculate a nudged fraction to keep it out of the surface
1263         // (the main fraction remains perfect)
1264         trace->fraction = f - collision_impactnudge.value * d;
1265
1266         // store the new trace plane (because collisions only happen from
1267         // the front this is always simply the triangle normal, never flipped)
1268         d = 1.0 / sqrt(faceplanenormallength2);
1269         VectorScale(faceplanenormal, d, trace->plane.normal);
1270         trace->plane.dist = faceplanedist * d;
1271
1272         trace->hitsupercontents = supercontents;
1273         trace->hitq3surfaceflags = q3surfaceflags;
1274         trace->hittexture = texture;
1275 #else
1276         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1277
1278         // this code is designed for clockwise triangles, conversion to
1279         // counterclockwise would require swapping some things around...
1280         // it is easier to simply swap the point0 and point2 parameters to this
1281         // function when calling it than it is to rewire the internals.
1282
1283         // calculate the unnormalized faceplanenormal of the triangle,
1284         // this represents the front side
1285         TriangleNormal(point0, point1, point2, faceplanenormal);
1286         // there's no point in processing a degenerate triangle
1287         // (GIGO - Garbage In, Garbage Out)
1288         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1289                 return;
1290         // calculate the unnormalized distance
1291         faceplanedist = DotProduct(point0, faceplanenormal);
1292
1293         // calculate the unnormalized start distance
1294         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1295         // if start point is on the back side there is no collision
1296         // (we don't care about traces going through the triangle the wrong way)
1297         if (d1 <= 0)
1298                 return;
1299
1300         // calculate the unnormalized end distance
1301         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1302         // if both are in front, there is no collision
1303         if (d2 >= 0)
1304                 return;
1305
1306         // from here on we know d1 is >= 0 and d2 is < 0
1307         // this means the line starts infront and ends behind, passing through it
1308
1309         // calculate the recipricol of the distance delta,
1310         // so we can use it multiple times cheaply (instead of division)
1311         d = 1.0f / (d1 - d2);
1312         // calculate the impact fraction by taking the start distance (> 0)
1313         // and subtracting the face plane distance (this is the distance of the
1314         // triangle along that same normal)
1315         // then multiply by the recipricol distance delta
1316         f = d1 * d;
1317         // skip out if this impact is further away than previous ones
1318         if (f > trace->realfraction)
1319                 return;
1320         // calculate the perfect impact point for classification of insidedness
1321         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1322         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1323         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1324
1325         // calculate the edge normal and reject if impact is outside triangle
1326         // (an edge normal faces away from the triangle, to get the desired normal
1327         //  a crossproduct with the faceplanenormal is used, and because of the way
1328         // the insidedness comparison is written it does not need to be normalized)
1329
1330         VectorSubtract(point2, point0, edge);
1331         CrossProduct(edge, faceplanenormal, edgenormal);
1332         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1333                 return;
1334
1335         VectorSubtract(point0, point1, edge);
1336         CrossProduct(edge, faceplanenormal, edgenormal);
1337         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1338                 return;
1339
1340         VectorSubtract(point1, point2, edge);
1341         CrossProduct(edge, faceplanenormal, edgenormal);
1342         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1343                 return;
1344
1345         // store the new trace fraction
1346         trace->realfraction = bound(0, f, 1);
1347
1348         // store the new trace plane (because collisions only happen from
1349         // the front this is always simply the triangle normal, never flipped)
1350         VectorNormalize(faceplanenormal);
1351         VectorCopy(faceplanenormal, trace->plane.normal);
1352         trace->plane.dist = DotProduct(point0, faceplanenormal);
1353
1354         // calculate the normalized start and end distances
1355         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1356         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1357
1358         // calculate a nudged fraction to keep it out of the surface
1359         // (the main fraction remains perfect)
1360         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1361         trace->fraction = bound(0, fnudged, 1);
1362
1363         // store the new trace endpos
1364         // not needed, it's calculated later when the trace is finished
1365         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1366         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1367         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1368         trace->hitsupercontents = supercontents;
1369         trace->hitq3surfaceflags = q3surfaceflags;
1370         trace->hittexture = texture;
1371 #endif
1372 }
1373
1374 typedef struct colbspnode_s
1375 {
1376         mplane_t plane;
1377         struct colbspnode_s *children[2];
1378         // the node is reallocated or split if max is reached
1379         int numcolbrushf;
1380         int maxcolbrushf;
1381         colbrushf_t **colbrushflist;
1382         //int numcolbrushd;
1383         //int maxcolbrushd;
1384         //colbrushd_t **colbrushdlist;
1385 }
1386 colbspnode_t;
1387
1388 typedef struct colbsp_s
1389 {
1390         mempool_t *mempool;
1391         colbspnode_t *nodes;
1392 }
1393 colbsp_t;
1394
1395 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1396 {
1397         colbsp_t *bsp;
1398         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1399         bsp->mempool = mempool;
1400         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1401         return bsp;
1402 }
1403
1404 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1405 {
1406         if (node->children[0])
1407                 Collision_FreeCollisionBSPNode(node->children[0]);
1408         if (node->children[1])
1409                 Collision_FreeCollisionBSPNode(node->children[1]);
1410         while (--node->numcolbrushf)
1411                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1412         //while (--node->numcolbrushd)
1413         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1414         Mem_Free(node);
1415 }
1416
1417 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1418 {
1419         Collision_FreeCollisionBSPNode(bsp->nodes);
1420         Mem_Free(bsp);
1421 }
1422
1423 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1424 {
1425         int i;
1426         colpointf_t *ps, *pe;
1427         float tempstart[3], tempend[3];
1428         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1429         VectorCopy(mins, maxs);
1430         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1431         {
1432                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1433                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1434                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1435                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1436                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1437                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1438                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1439                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1440         }
1441         mins[0] -= 1;
1442         mins[1] -= 1;
1443         mins[2] -= 1;
1444         maxs[0] += 1;
1445         maxs[1] += 1;
1446         maxs[2] += 1;
1447 }
1448