collision.c

   1
   2 #include "quakedef.h"
   3 #include "polygon.h"
   4
   5 #define COLLISION_SNAPSCALE (64.0f)
   6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
   7 #define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
   8 #define COLLISION_PLANE_DIST_EPSILON (1.0f / 32.0f)
   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         bestdist = DotProduct(points->v, normal);
 113         points++;
 114         while(--numpoints)
 115         {
 116                 dist = DotProduct(points->v, normal);
 117                 bestdist = min(bestdist, dist);
 118                 points++;
 119         }
 120         return bestdist;
 121 }
 122
 123 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 124 {
 125         float dist, bestdist;
 126         bestdist = DotProduct(points->v, normal);
 127         points++;
 128         while(--numpoints)
 129         {
 130                 dist = DotProduct(points->v, normal);
 131                 bestdist = max(bestdist, dist);
 132                 points++;
 133         }
 134         return bestdist;
 135 }
 136
 137
 138 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
 139 {
 140         // TODO: planesbuf could be replaced by a remapping table
 141         int j, k, m, w;
 142         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
 143         double maxdist;
 144         colbrushf_t *brush;
 145         colpointf_t pointsbuf[256];
 146         colplanef_t planesbuf[256];
 147         int elementsbuf[1024];
 148         int polypointbuf[256];
 149         int pmaxpoints = 64;
 150         int pnumpoints;
 151         double p[2][3*64];
 152 #if 0
 153         // enable these if debugging to avoid seeing garbage in unused data
 154         memset(pointsbuf, 0, sizeof(pointsbuf));
 155         memset(planesbuf, 0, sizeof(planesbuf));
 156         memset(elementsbuf, 0, sizeof(elementsbuf));
 157         memset(polypointbuf, 0, sizeof(polypointbuf));
 158         memset(p, 0, sizeof(p));
 159 #endif
 160         // figure out how large a bounding box we need to properly compute this brush
 161         maxdist = 0;
 162         for (j = 0;j < numoriginalplanes;j++)
 163                 maxdist = max(maxdist, originalplanes[j].dist);
 164         // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
 165         maxdist = floor(maxdist * (4.0 / 1024.0) + 1) * 1024.0;
 166         // construct a collision brush (points, planes, and renderable mesh) from
 167         // a set of planes, this also optimizes out any unnecessary planes (ones
 168         // whose polygon is clipped away by the other planes)
 169         for (j = 0;j < numoriginalplanes;j++)
 170         {
 171                 // add the plane uniquely (no duplicates)
 172                 for (k = 0;k < numplanesbuf;k++)
 173                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 174                                 break;
 175                 // if the plane is a duplicate, skip it
 176                 if (k < numplanesbuf)
 177                         continue;
 178                 // check if there are too many and skip the brush
 179                 if (numplanesbuf >= maxplanesbuf)
 180                 {
 181                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
 182                         return NULL;
 183                 }
 184
 185                 // create a large polygon from the plane
 186                 w = 0;
 187                 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
 188                 pnumpoints = 4;
 189                 // clip it by all other planes
 190                 for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
 191                 {
 192                         if (k != j)
 193                         {
 194                                 // we want to keep the inside of the brush plane so we flip
 195                                 // the cutting plane
 196                                 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);
 197                                 w = !w;
 198                         }
 199                 }
 200                 // if nothing is left, skip it
 201                 if (pnumpoints < 3)
 202                 {
 203                         //Con_Printf("Collision_NewBrushFromPlanes: warning: polygon for plane %f %f %f %f clipped away\n", originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
 204                         continue;
 205                 }
 206
 207                 for (k = 0;k < pnumpoints;k++)
 208                 {
 209                         int l, m;
 210                         m = 0;
 211                         for (l = 0;l < numoriginalplanes;l++)
 212                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
 213                                         m++;
 214                         if (m < 3)
 215                                 break;
 216                 }
 217                 if (k < pnumpoints)
 218                 {
 219                         Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
 220                         //return NULL;
 221                 }
 222
 223                 // check if there are too many polygon vertices for buffer
 224                 if (pnumpoints > pmaxpoints)
 225                 {
 226                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 227                         return NULL;
 228                 }
 229
 230                 // check if there are too many triangle elements for buffer
 231                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
 232                 {
 233                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 234                         return NULL;
 235                 }
 236
 237                 for (k = 0;k < pnumpoints;k++)
 238                 {
 239                         // check if there is already a matching point (no duplicates)
 240                         for (m = 0;m < numpointsbuf;m++)
 241                                 if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP2)
 242                                         break;
 243
 244                         // if there is no match, add a new one
 245                         if (m == numpointsbuf)
 246                         {
 247                                 // check if there are too many and skip the brush
 248                                 if (numpointsbuf >= maxpointsbuf)
 249                                 {
 250                                         Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 251                                         return NULL;
 252                                 }
 253                                 // add the new one
 254                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
 255                                 numpointsbuf++;
 256                         }
 257
 258                         // store the index into a buffer
 259                         polypointbuf[k] = m;
 260                 }
 261
 262                 // add the triangles for the polygon
 263                 // (this particular code makes a triangle fan)
 264                 for (k = 0;k < pnumpoints - 2;k++)
 265                 {
 266                         elementsbuf[numelementsbuf++] = polypointbuf[0];
 267                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
 268                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
 269                 }
 270
 271                 // add the new plane
 272                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
 273                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
 274                 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
 275                 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
 276                 numplanesbuf++;
 277         }
 278
 279         // validate plane distances
 280         for (j = 0;j < numplanesbuf;j++)
 281         {
 282                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
 283                 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
 284                         Con_Printf("plane %f %f %f %f mismatches dist %f\n", planesbuf[j].normal[0], planesbuf[j].normal[1], planesbuf[j].normal[2], planesbuf[j].dist, d);
 285         }
 286
 287         // if nothing is left, there's nothing to allocate
 288         if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
 289         {
 290                 Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
 291                 return NULL;
 292         }
 293
 294         // allocate the brush and copy to it
 295         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
 296         brush->supercontents = supercontents;
 297         brush->numplanes = numplanesbuf;
 298         brush->numpoints = numpointsbuf;
 299         brush->numtriangles = numelementsbuf / 3;
 300         brush->planes = (colplanef_t *)(brush + 1);
 301         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
 302         brush->elements = (int *)(brush->points + brush->numpoints);
 303         for (j = 0;j < brush->numpoints;j++)
 304         {
 305                 brush->points[j].v[0] = pointsbuf[j].v[0];
 306                 brush->points[j].v[1] = pointsbuf[j].v[1];
 307                 brush->points[j].v[2] = pointsbuf[j].v[2];
 308         }
 309         for (j = 0;j < brush->numplanes;j++)
 310         {
 311                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
 312                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
 313                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
 314                 brush->planes[j].dist = planesbuf[j].dist;
 315                 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
 316                 brush->planes[j].texture = planesbuf[j].texture;
 317         }
 318         for (j = 0;j < brush->numtriangles * 3;j++)
 319                 brush->elements[j] = elementsbuf[j];
 320         VectorCopy(brush->points[0].v, brush->mins);
 321         VectorCopy(brush->points[0].v, brush->maxs);
 322         for (j = 1;j < brush->numpoints;j++)
 323         {
 324                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
 325                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
 326                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
 327                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
 328                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
 329                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
 330         }
 331         brush->mins[0] -= 1;
 332         brush->mins[1] -= 1;
 333         brush->mins[2] -= 1;
 334         brush->maxs[0] += 1;
 335         brush->maxs[1] += 1;
 336         brush->maxs[2] += 1;
 337         Collision_ValidateBrush(brush);
 338         return brush;
 339 }
 340
 341
 342
 343 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 344 {
 345         int i;
 346         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
 347         colpointf_t *p, *p2;
 348
 349         // FIXME: these probably don't actually need to be normalized if the collision code does not care
 350         if (brush->numpoints == 3)
 351         {
 352                 // optimized triangle case
 353                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 354                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 355                 {
 356                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 357                         brush->numplanes = 0;
 358                         return;
 359                 }
 360                 else
 361                 {
 362                         brush->numplanes = 5;
 363                         VectorNormalize(brush->planes[0].normal);
 364                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 365                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 366                         brush->planes[1].dist = -brush->planes[0].dist;
 367                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 368                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 369                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 370 #if 1
 371                         {
 372                                 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
 373                                 int i, best;
 374                                 float dist, bestdist;
 375                                 bestdist = fabs(brush->planes[0].normal[0]);
 376                                 best = 0;
 377                                 for (i = 1;i < 3;i++)
 378                                 {
 379                                         dist = fabs(brush->planes[0].normal[i]);
 380                                         if (bestdist < dist)
 381                                         {
 382                                                 bestdist = dist;
 383                                                 best = i;
 384                                         }
 385                                 }
 386                                 VectorClear(projectionnormal);
 387                                 if (brush->planes[0].normal[best] < 0)
 388                                         projectionnormal[best] = -1;
 389                                 else
 390                                         projectionnormal[best] = 1;
 391                                 VectorCopy(edge0, projectionedge0);
 392                                 VectorCopy(edge1, projectionedge1);
 393                                 VectorCopy(edge2, projectionedge2);
 394                                 projectionedge0[best] = 0;
 395                                 projectionedge1[best] = 0;
 396                                 projectionedge2[best] = 0;
 397                                 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
 398                                 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
 399                                 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
 400                         }
 401 #else
 402                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 403                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 404                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 405 #endif
 406                         VectorNormalize(brush->planes[2].normal);
 407                         VectorNormalize(brush->planes[3].normal);
 408                         VectorNormalize(brush->planes[4].normal);
 409                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 410                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 411                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 412
 413                         if (developer.integer >= 100)
 414                         {
 415                                 // validation code
 416 #if 0
 417                                 float temp[3];
 418
 419                                 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 420                                 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 421                                 CrossProduct(edge0, edge1, normal);
 422                                 VectorNormalize(normal);
 423                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 424                                 if (VectorLength(temp) > 0.01f)
 425                                         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]);
 426                                 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)
 427                                         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);
 428 #if 0
 429                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 430                                         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);
 431                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 432                                         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);
 433                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 434                                         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);
 435                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 436                                         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]);
 437                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 438                                         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]);
 439                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 440                                         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]);
 441 #endif
 442 #endif
 443                                 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)
 444                                         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);
 445                                 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)
 446                                         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);
 447                                 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)
 448                                         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);
 449                                 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)
 450                                         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);
 451                                 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)
 452                                         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);
 453                         }
 454                 }
 455         }
 456         else
 457         {
 458                 // choose best surface normal for polygon's plane
 459                 bestdist = 0;
 460                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 461                 {
 462                         VectorSubtract(p[-1].v, p[0].v, edge0);
 463                         VectorSubtract(p[1].v, p[0].v, edge1);
 464                         CrossProduct(edge0, edge1, normal);
 465                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 466                         dist = DotProduct(normal, normal);
 467                         if (i == 0 || bestdist < dist)
 468                         {
 469                                 bestdist = dist;
 470                                 VectorCopy(normal, brush->planes->normal);
 471                         }
 472                 }
 473                 if (bestdist < 0.0001f)
 474                 {
 475                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 476                         brush->numplanes = 0;
 477                         return;
 478                 }
 479                 else
 480                 {
 481                         brush->numplanes = brush->numpoints + 2;
 482                         VectorNormalize(brush->planes->normal);
 483                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 484
 485                         // negate plane to create other side
 486                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 487                         brush->planes[1].dist = -brush->planes[0].dist;
 488                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 489                         {
 490                                 VectorSubtract(p->v, p2->v, edge0);
 491                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 492                                 VectorNormalize(brush->planes[i + 2].normal);
 493                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 494                         }
 495                 }
 496         }
 497
 498         if (developer.integer >= 100)
 499         {
 500                 // validity check - will be disabled later
 501                 Collision_ValidateBrush(brush);
 502                 for (i = 0;i < brush->numplanes;i++)
 503                 {
 504                         int j;
 505                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 506                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
 507                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 508                 }
 509         }
 510 }
 511
 512 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 513 {
 514         colbrushf_t *brush;
 515         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 516         brush->supercontents = supercontents;
 517         brush->numpoints = numpoints;
 518         brush->numplanes = numpoints + 2;
 519         brush->planes = (colplanef_t *)(brush + 1);
 520         brush->points = (colpointf_t *)points;
 521         Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
 522         return brush;
 523 }
 524
 525 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 526 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)
 527 {
 528         int nplane, nplane2, fstartsolid = true, fendsolid = true, brushsolid, hitq3surfaceflags = 0;
 529         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 530         const colplanef_t *startplane, *endplane;
 531         texture_t *hittexture = NULL;
 532
 533         VectorClear(newimpactnormal);
 534
 535         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 536         {
 537                 nplane2 = nplane;
 538                 if (nplane2 >= thatbrush_start->numplanes)
 539                 {
 540                         nplane2 -= thatbrush_start->numplanes;
 541                         startplane = thisbrush_start->planes + nplane2;
 542                         endplane = thisbrush_end->planes + nplane2;
 543                         if (developer.integer >= 100)
 544                         {
 545                                 // any brush with degenerate planes is not worth handling
 546                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 547                                 {
 548                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 549                                         return;
 550                                 }
 551                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 552                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 553                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 554                         }
 555                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
 556                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
 557                 }
 558                 else
 559                 {
 560                         startplane = thatbrush_start->planes + nplane2;
 561                         endplane = thatbrush_end->planes + nplane2;
 562                         if (developer.integer >= 100)
 563                         {
 564                                 // any brush with degenerate planes is not worth handling
 565                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 566                                 {
 567                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 568                                         return;
 569                                 }
 570                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 571                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 572                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 573                         }
 574                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
 575                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
 576                 }
 577                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 578
 579                 if(d1 > d2)
 580                 {
 581                         // moving into brush
 582                         if(d2 > 0)
 583                                 return;
 584                         if(d1 > 0)
 585                         {
 586                                 // enter
 587                                 fstartsolid = false;
 588                                 imove = 1 / (d1 - d2);
 589                                 f = (d1 - collision_enternudge.value) * imove;
 590                                 if (enterfrac < f)
 591                                 {
 592                                         enterfrac = f;
 593                                         enterfrac2 = f - collision_impactnudge.value * imove;
 594                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 595                                         hitq3surfaceflags = startplane->q3surfaceflags;
 596                                         hittexture = startplane->texture;
 597                                 }
 598                         }
 599                 }
 600                 else
 601                 {
 602                         // moving out of brush
 603                         if(d1 > 0)
 604                                 return;
 605                         if(d2 > 0)
 606                         {
 607                                 // leave
 608                                 fendsolid = false;
 609                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 610                                 if (leavefrac > f)
 611                                         leavefrac = f;
 612                         }
 613                 }
 614         }
 615
 616         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 617         if (fstartsolid)
 618         {
 619                 trace->startsupercontents |= thatbrush_start->supercontents;
 620                 if (brushsolid)
 621                 {
 622                         trace->startsolid = true;
 623                         if (fendsolid)
 624                                 trace->allsolid = true;
 625                 }
 626         }
 627
 628         // LordHavoc: we need an epsilon nudge here because for a point trace the
 629         // penetrating line segment is normally zero length if this brush was
 630         // generated from a polygon (infinitely thin), and could even be slightly
 631         // positive or negative due to rounding errors in that case.
 632         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 633         {
 634 #if 0
 635                 // broken
 636                 if (thatbrush_start->ispolygon)
 637                 {
 638                         d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 639                         d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 640                         move = d1 - d2;
 641                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 642                                 return;
 643                         // enter
 644                         imove = 1 / move;
 645                         enterfrac = (d1 - collision_enternudge.value) * imove;
 646                         if (enterfrac < trace->realfraction)
 647                         {
 648                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 649                                 trace->hitsupercontents = thatbrush_start->supercontents;
 650                                 trace->hitq3surfaceflags = thatbrush_start->planes[0].q3surfaceflags;
 651                                 trace->hittexture = thatbrush_start->planes[0].texture;
 652                                 trace->realfraction = bound(0, enterfrac, 1);
 653                                 trace->fraction = bound(0, enterfrac2, 1);
 654                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 655                         }
 656                 }
 657                 else
 658 #endif
 659                 {
 660                         trace->hitsupercontents = thatbrush_start->supercontents;
 661                         trace->hitq3surfaceflags = hitq3surfaceflags;
 662                         trace->hittexture = hittexture;
 663                         trace->realfraction = bound(0, enterfrac, 1);
 664                         trace->fraction = bound(0, enterfrac2, 1);
 665                         VectorCopy(newimpactnormal, trace->plane.normal);
 666                 }
 667         }
 668 }
 669
 670 // NOTE: start and end brush pair must have same numplanes/numpoints
 671 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 672 {
 673         int nplane, fstartsolid = true, fendsolid = true, brushsolid, hitq3surfaceflags = 0;
 674         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
 675         const colplanef_t *startplane, *endplane;
 676         texture_t *hittexture = NULL;
 677
 678         VectorClear(newimpactnormal);
 679
 680         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 681         {
 682                 startplane = thatbrush_start->planes + nplane;
 683                 endplane = thatbrush_end->planes + nplane;
 684                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
 685                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
 686                 if (developer.integer >= 100)
 687                 {
 688                         // any brush with degenerate planes is not worth handling
 689                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 690                         {
 691                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
 692                                 return;
 693                         }
 694                         if (thatbrush_start->numpoints)
 695                         {
 696                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 697                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
 698                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 699                         }
 700                 }
 701
 702                 if (d1 > d2)
 703                 {
 704                         // moving into brush
 705                         if (d2 > 0)
 706                                 return;
 707                         if (d1 > 0)
 708                         {
 709                                 // enter
 710                                 fstartsolid = false;
 711                                 imove = 1 / (d1 - d2);
 712                                 f = (d1 - collision_enternudge.value) * imove;
 713                                 if (enterfrac < f)
 714                                 {
 715                                         enterfrac = f;
 716                                         enterfrac2 = f - collision_impactnudge.value * imove;
 717                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 718                                         hitq3surfaceflags = startplane->q3surfaceflags;
 719                                         hittexture = startplane->texture;
 720                                 }
 721                         }
 722                 }
 723                 else
 724                 {
 725                         // moving out of brush
 726                         if (d1 > 0)
 727                                 return;
 728                         if (d2 > 0)
 729                         {
 730                                 // leave
 731                                 fendsolid = false;
 732                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
 733                                 if (leavefrac > f)
 734                                         leavefrac = f;
 735                         }
 736                 }
 737         }
 738
 739         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 740         if (fstartsolid)
 741         {
 742                 trace->startsupercontents |= thatbrush_start->supercontents;
 743                 if (brushsolid)
 744                 {
 745                         trace->startsolid = true;
 746                         if (fendsolid)
 747                                 trace->allsolid = true;
 748                 }
 749         }
 750
 751         // LordHavoc: we need an epsilon nudge here because for a point trace the
 752         // penetrating line segment is normally zero length if this brush was
 753         // generated from a polygon (infinitely thin), and could even be slightly
 754         // positive or negative due to rounding errors in that case.
 755         if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac <= leavefrac)
 756         {
 757 #if 0
 758                 // broken
 759                 if (thatbrush_start->ispolygon)
 760                 {
 761                         d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
 762                         d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
 763                         move = d1 - d2;
 764                         if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
 765                                 return;
 766                         // enter
 767                         imove = 1 / move;
 768                         enterfrac = (d1 - collision_enternudge.value) * imove;
 769                         if (enterfrac < trace->realfraction)
 770                         {
 771                                 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
 772                                 trace->hitsupercontents = thatbrush_start->supercontents;
 773                                 trace->hitq3surfaceflags = hitq3surfaceflags;
 774                                 trace->hittexture = hittexture;
 775                                 trace->realfraction = bound(0, enterfrac, 1);
 776                                 trace->fraction = bound(0, enterfrac2, 1);
 777                                 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
 778                         }
 779                 }
 780                 else
 781 #endif
 782                 {
 783                         trace->hitsupercontents = thatbrush_start->supercontents;
 784                         trace->hitq3surfaceflags = hitq3surfaceflags;
 785                         trace->hittexture = hittexture;
 786                         trace->realfraction = bound(0, enterfrac, 1);
 787                         trace->fraction = bound(0, enterfrac2, 1);
 788                         VectorCopy(newimpactnormal, trace->plane.normal);
 789                 }
 790         }
 791 }
 792
 793 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 794 {
 795         int nplane;
 796         const colplanef_t *plane;
 797
 798         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
 799                 if (DotProduct(plane->normal, point) > plane->dist)
 800                         return;
 801
 802         trace->startsupercontents |= thatbrush->supercontents;
 803         if (trace->hitsupercontentsmask & thatbrush->supercontents)
 804         {
 805                 trace->startsolid = true;
 806                 trace->allsolid = true;
 807         }
 808 }
 809
 810 static colpointf_t polyf_points[256];
 811 static colplanef_t polyf_planes[256 + 2];
 812 static colbrushf_t polyf_brush;
 813
 814 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
 815 {
 816         while (numpoints--)
 817         {
 818                 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
 819                 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
 820                 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
 821         }
 822 }
 823
 824 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 825 {
 826         if (numpoints > 256)
 827         {
 828                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 829                 return;
 830         }
 831         polyf_brush.numpoints = numpoints;
 832         polyf_brush.numplanes = numpoints + 2;
 833         //polyf_brush.points = (colpointf_t *)points;
 834         polyf_brush.planes = polyf_planes;
 835         polyf_brush.supercontents = supercontents;
 836         polyf_brush.points = polyf_points;
 837         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 838         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 839         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 840         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 841 }
 842
 843 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)
 844 {
 845         int i;
 846         float facemins[3], facemaxs[3];
 847         polyf_brush.numpoints = 3;
 848         polyf_brush.numplanes = 5;
 849         polyf_brush.points = polyf_points;
 850         polyf_brush.planes = polyf_planes;
 851         polyf_brush.supercontents = supercontents;
 852         for (i = 0;i < polyf_brush.numplanes;i++)
 853         {
 854                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 855                 polyf_brush.planes[i].texture = texture;
 856         }
 857         for (i = 0;i < numtriangles;i++, element3i += 3)
 858         {
 859                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 860                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 861                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 862                 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 863                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 864                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 865                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 866                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 867                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 868                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 869                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 870                 {
 871                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 872                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 873                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 874                 }
 875         }
 876 }
 877
 878 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 879 {
 880         if (numpoints > 256)
 881         {
 882                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 883                 return;
 884         }
 885         polyf_brush.numpoints = numpoints;
 886         polyf_brush.numplanes = numpoints + 2;
 887         //polyf_brush.points = (colpointf_t *)points;
 888         polyf_brush.points = polyf_points;
 889         Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 890         polyf_brush.planes = polyf_planes;
 891         polyf_brush.supercontents = supercontents;
 892         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 893         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 894         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 895 }
 896
 897 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)
 898 {
 899         int i;
 900 #if 1
 901         // FIXME: snap vertices?
 902         for (i = 0;i < numtriangles;i++, element3i += 3)
 903                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
 904 #else
 905         polyf_brush.numpoints = 3;
 906         polyf_brush.numplanes = 5;
 907         polyf_brush.points = polyf_points;
 908         polyf_brush.planes = polyf_planes;
 909         polyf_brush.supercontents = supercontents;
 910         for (i = 0;i < polyf_brush.numplanes;i++)
 911         {
 912                 polyf_brush.planes[i].supercontents = supercontents;
 913                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
 914                 polyf_brush.planes[i].texture = texture;
 915         }
 916         for (i = 0;i < numtriangles;i++, element3i += 3)
 917         {
 918                 float facemins[3], facemaxs[3];
 919                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 920                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 921                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 922                 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
 923                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 924                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 925                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 926                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 927                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 928                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 929                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 930                 {
 931                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 932                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 933                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 934                 }
 935         }
 936 #endif
 937 }
 938
 939
 940 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
 941 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
 942 static colbrushf_t polyf_brushstart, polyf_brushend;
 943
 944 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)
 945 {
 946         int i;
 947         if (numpoints > 256)
 948         {
 949                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
 950                 return;
 951         }
 952         polyf_brushstart.numpoints = numpoints;
 953         polyf_brushstart.numplanes = numpoints + 2;
 954         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
 955         polyf_brushstart.planes = polyf_planesstart;
 956         polyf_brushstart.supercontents = supercontents;
 957         for (i = 0;i < numpoints;i++)
 958                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
 959         polyf_brushend.numpoints = numpoints;
 960         polyf_brushend.numplanes = numpoints + 2;
 961         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
 962         polyf_brushend.planes = polyf_planesend;
 963         polyf_brushend.supercontents = supercontents;
 964         for (i = 0;i < numpoints;i++)
 965                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
 966         for (i = 0;i < polyf_brushstart.numplanes;i++)
 967         {
 968                 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
 969                 polyf_brushstart.planes[i].texture = texture;
 970         }
 971         Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
 972         Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
 973         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
 974         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 975
 976         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
 977         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 978
 979         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 980 }
 981
 982
 983
 984 #define MAX_BRUSHFORBOX 16
 985 static int brushforbox_index = 0;
 986 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
 987 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
 988 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
 989 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
 990
 991 void Collision_InitBrushForBox(void)
 992 {
 993         int i;
 994         for (i = 0;i < MAX_BRUSHFORBOX;i++)
 995         {
 996                 brushforbox_brush[i].numpoints = 8;
 997                 brushforbox_brush[i].numplanes = 6;
 998                 brushforbox_brush[i].points = brushforbox_point + i * 8;
 999                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1000                 brushforpoint_brush[i].numpoints = 1;
1001                 brushforpoint_brush[i].numplanes = 0;
1002                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1003                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1004         }
1005 }
1006
1007 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1008 {
1009         int i, j;
1010         vec3_t v;
1011         colbrushf_t *brush;
1012         if (brushforbox_brush[0].numpoints == 0)
1013                 Collision_InitBrushForBox();
1014         // FIXME: these probably don't actually need to be normalized if the collision code does not care
1015         if (VectorCompare(mins, maxs))
1016         {
1017                 // point brush
1018                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1019                 VectorCopy(mins, brush->points->v);
1020         }
1021         else
1022         {
1023                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1024                 // FIXME: optimize
1025                 for (i = 0;i < 8;i++)
1026                 {
1027                         v[0] = i & 1 ? maxs[0] : mins[0];
1028                         v[1] = i & 2 ? maxs[1] : mins[1];
1029                         v[2] = i & 4 ? maxs[2] : mins[2];
1030                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1031                 }
1032                 // FIXME: optimize!
1033                 for (i = 0;i < 6;i++)
1034                 {
1035                         VectorClear(v);
1036                         v[i >> 1] = i & 1 ? 1 : -1;
1037                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1038                         VectorNormalize(brush->planes[i].normal);
1039                 }
1040         }
1041         brush->supercontents = supercontents;
1042         for (j = 0;j < brush->numplanes;j++)
1043         {
1044                 brush->planes[j].q3surfaceflags = q3surfaceflags;
1045                 brush->planes[j].texture = texture;
1046                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1047         }
1048         VectorCopy(brush->points[0].v, brush->mins);
1049         VectorCopy(brush->points[0].v, brush->maxs);
1050         for (j = 1;j < brush->numpoints;j++)
1051         {
1052                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1053                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1054                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1055                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1056                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1057                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1058         }
1059         brush->mins[0] -= 1;
1060         brush->mins[1] -= 1;
1061         brush->mins[2] -= 1;
1062         brush->maxs[0] += 1;
1063         brush->maxs[1] += 1;
1064         brush->maxs[2] += 1;
1065         Collision_ValidateBrush(brush);
1066         return brush;
1067 }
1068
1069 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)
1070 {
1071         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1072         vec3_t startmins, startmaxs, endmins, endmaxs;
1073
1074         // create brushes for the collision
1075         VectorAdd(start, mins, startmins);
1076         VectorAdd(start, maxs, startmaxs);
1077         VectorAdd(end, mins, endmins);
1078         VectorAdd(end, maxs, endmaxs);
1079         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1080         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1081         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1082
1083         memset(trace, 0, sizeof(trace_t));
1084         trace->hitsupercontentsmask = hitsupercontentsmask;
1085         trace->fraction = 1;
1086         trace->realfraction = 1;
1087         trace->allsolid = true;
1088         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1089 }
1090
1091 //pseudocode for detecting line/sphere overlap without calculating an impact point
1092 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1093
1094 // LordHavoc: currently unused, but tested
1095 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1096 // by simply adding the moving sphere's radius to the sphereradius parameter,
1097 // all the results are correct (impactpoint, impactnormal, and fraction)
1098 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1099 {
1100         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1101         // make sure the impactpoint and impactnormal are valid even if there is
1102         // no collision
1103         VectorCopy(lineend, impactpoint);
1104         VectorClear(impactnormal);
1105         // calculate line direction
1106         VectorSubtract(lineend, linestart, dir);
1107         // normalize direction
1108         linelength = VectorLength(dir);
1109         if (linelength)
1110         {
1111                 scale = 1.0 / linelength;
1112                 VectorScale(dir, scale, dir);
1113         }
1114         // this dotproduct calculates the distance along the line at which the
1115         // sphere origin is (nearest point to the sphere origin on the line)
1116         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1117         // calculate point on line at that distance, and subtract the
1118         // sphereorigin from it, so we have a vector to measure for the distance
1119         // of the line from the sphereorigin (deviation, how off-center it is)
1120         VectorMA(linestart, impactdist, dir, v);
1121         VectorSubtract(v, sphereorigin, v);
1122         deviationdist = VectorLength2(v);
1123         // if outside the radius, it's a miss for sure
1124         // (we do this comparison using squared radius to avoid a sqrt)
1125         if (deviationdist > sphereradius*sphereradius)
1126                 return 1; // miss (off to the side)
1127         // nudge back to find the correct impact distance
1128         impactdist += deviationdist - sphereradius;
1129         if (impactdist >= linelength)
1130                 return 1; // miss (not close enough)
1131         if (impactdist < 0)
1132                 return 1; // miss (linestart is past or inside sphere)
1133         // calculate new impactpoint
1134         VectorMA(linestart, impactdist, dir, impactpoint);
1135         // calculate impactnormal (surface normal at point of impact)
1136         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1137         // normalize impactnormal
1138         VectorNormalize(impactnormal);
1139         // return fraction of movement distance
1140         return impactdist / linelength;
1141 }
1142
1143 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)
1144 {
1145 #if 1
1146         // more optimized
1147         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1148
1149         // this function executes:
1150         // 32 ops when line starts behind triangle
1151         // 38 ops when line ends infront of triangle
1152         // 43 ops when line fraction is already closer than this triangle
1153         // 72 ops when line is outside edge 01
1154         // 92 ops when line is outside edge 21
1155         // 115 ops when line is outside edge 02
1156         // 123 ops when line impacts triangle and updates trace results
1157
1158         // this code is designed for clockwise triangles, conversion to
1159         // counterclockwise would require swapping some things around...
1160         // it is easier to simply swap the point0 and point2 parameters to this
1161         // function when calling it than it is to rewire the internals.
1162
1163         // calculate the faceplanenormal of the triangle, this represents the front side
1164         // 15 ops
1165         VectorSubtract(point0, point1, edge01);
1166         VectorSubtract(point2, point1, edge21);
1167         CrossProduct(edge01, edge21, faceplanenormal);
1168         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1169         // 6 ops
1170         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1171         if (faceplanenormallength2 < 0.0001f)
1172                 return;
1173         // calculate the distance
1174         // 5 ops
1175         faceplanedist = DotProduct(point0, faceplanenormal);
1176
1177         // if start point is on the back side there is no collision
1178         // (we don't care about traces going through the triangle the wrong way)
1179
1180         // calculate the start distance
1181         // 6 ops
1182         d1 = DotProduct(faceplanenormal, linestart);
1183         if (d1 <= faceplanedist)
1184                 return;
1185
1186         // calculate the end distance
1187         // 6 ops
1188         d2 = DotProduct(faceplanenormal, lineend);
1189         // if both are in front, there is no collision
1190         if (d2 >= faceplanedist)
1191                 return;
1192
1193         // from here on we know d1 is >= 0 and d2 is < 0
1194         // this means the line starts infront and ends behind, passing through it
1195
1196         // calculate the recipricol of the distance delta,
1197         // so we can use it multiple times cheaply (instead of division)
1198         // 2 ops
1199         d = 1.0f / (d1 - d2);
1200         // calculate the impact fraction by taking the start distance (> 0)
1201         // and subtracting the face plane distance (this is the distance of the
1202         // triangle along that same normal)
1203         // then multiply by the recipricol distance delta
1204         // 2 ops
1205         f = (d1 - faceplanedist) * d;
1206         // skip out if this impact is further away than previous ones
1207         // 1 ops
1208         if (f > trace->realfraction)
1209                 return;
1210         // calculate the perfect impact point for classification of insidedness
1211         // 9 ops
1212         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1213         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1214         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1215
1216         // calculate the edge normal and reject if impact is outside triangle
1217         // (an edge normal faces away from the triangle, to get the desired normal
1218         //  a crossproduct with the faceplanenormal is used, and because of the way
1219         // the insidedness comparison is written it does not need to be normalized)
1220
1221         // first use the two edges from the triangle plane math
1222         // the other edge only gets calculated if the point survives that long
1223
1224         // 20 ops
1225         CrossProduct(edge01, faceplanenormal, edgenormal);
1226         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1227                 return;
1228
1229         // 20 ops
1230         CrossProduct(faceplanenormal, edge21, edgenormal);
1231         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1232                 return;
1233
1234         // 23 ops
1235         VectorSubtract(point0, point2, edge02);
1236         CrossProduct(faceplanenormal, edge02, edgenormal);
1237         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1238                 return;
1239
1240         // 8 ops (rare)
1241
1242         // store the new trace fraction
1243         trace->realfraction = f;
1244
1245         // calculate a nudged fraction to keep it out of the surface
1246         // (the main fraction remains perfect)
1247         trace->fraction = f - collision_impactnudge.value * d;
1248
1249         // store the new trace plane (because collisions only happen from
1250         // the front this is always simply the triangle normal, never flipped)
1251         d = 1.0 / sqrt(faceplanenormallength2);
1252         VectorScale(faceplanenormal, d, trace->plane.normal);
1253         trace->plane.dist = faceplanedist * d;
1254
1255         trace->hitsupercontents = supercontents;
1256         trace->hitq3surfaceflags = q3surfaceflags;
1257         trace->hittexture = texture;
1258 #else
1259         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1260
1261         // this code is designed for clockwise triangles, conversion to
1262         // counterclockwise would require swapping some things around...
1263         // it is easier to simply swap the point0 and point2 parameters to this
1264         // function when calling it than it is to rewire the internals.
1265
1266         // calculate the unnormalized faceplanenormal of the triangle,
1267         // this represents the front side
1268         TriangleNormal(point0, point1, point2, faceplanenormal);
1269         // there's no point in processing a degenerate triangle
1270         // (GIGO - Garbage In, Garbage Out)
1271         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1272                 return;
1273         // calculate the unnormalized distance
1274         faceplanedist = DotProduct(point0, faceplanenormal);
1275
1276         // calculate the unnormalized start distance
1277         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1278         // if start point is on the back side there is no collision
1279         // (we don't care about traces going through the triangle the wrong way)
1280         if (d1 <= 0)
1281                 return;
1282
1283         // calculate the unnormalized end distance
1284         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1285         // if both are in front, there is no collision
1286         if (d2 >= 0)
1287                 return;
1288
1289         // from here on we know d1 is >= 0 and d2 is < 0
1290         // this means the line starts infront and ends behind, passing through it
1291
1292         // calculate the recipricol of the distance delta,
1293         // so we can use it multiple times cheaply (instead of division)
1294         d = 1.0f / (d1 - d2);
1295         // calculate the impact fraction by taking the start distance (> 0)
1296         // and subtracting the face plane distance (this is the distance of the
1297         // triangle along that same normal)
1298         // then multiply by the recipricol distance delta
1299         f = d1 * d;
1300         // skip out if this impact is further away than previous ones
1301         if (f > trace->realfraction)
1302                 return;
1303         // calculate the perfect impact point for classification of insidedness
1304         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1305         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1306         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1307
1308         // calculate the edge normal and reject if impact is outside triangle
1309         // (an edge normal faces away from the triangle, to get the desired normal
1310         //  a crossproduct with the faceplanenormal is used, and because of the way
1311         // the insidedness comparison is written it does not need to be normalized)
1312
1313         VectorSubtract(point2, point0, edge);
1314         CrossProduct(edge, faceplanenormal, edgenormal);
1315         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1316                 return;
1317
1318         VectorSubtract(point0, point1, edge);
1319         CrossProduct(edge, faceplanenormal, edgenormal);
1320         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1321                 return;
1322
1323         VectorSubtract(point1, point2, edge);
1324         CrossProduct(edge, faceplanenormal, edgenormal);
1325         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1326                 return;
1327
1328         // store the new trace fraction
1329         trace->realfraction = bound(0, f, 1);
1330
1331         // store the new trace plane (because collisions only happen from
1332         // the front this is always simply the triangle normal, never flipped)
1333         VectorNormalize(faceplanenormal);
1334         VectorCopy(faceplanenormal, trace->plane.normal);
1335         trace->plane.dist = DotProduct(point0, faceplanenormal);
1336
1337         // calculate the normalized start and end distances
1338         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1339         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1340
1341         // calculate a nudged fraction to keep it out of the surface
1342         // (the main fraction remains perfect)
1343         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1344         trace->fraction = bound(0, fnudged, 1);
1345
1346         // store the new trace endpos
1347         // not needed, it's calculated later when the trace is finished
1348         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1349         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1350         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1351         trace->hitsupercontents = supercontents;
1352         trace->hitq3surfaceflags = q3surfaceflags;
1353         trace->hittexture = texture;
1354 #endif
1355 }
1356
1357 typedef struct colbspnode_s
1358 {
1359         mplane_t plane;
1360         struct colbspnode_s *children[2];
1361         // the node is reallocated or split if max is reached
1362         int numcolbrushf;
1363         int maxcolbrushf;
1364         colbrushf_t **colbrushflist;
1365         //int numcolbrushd;
1366         //int maxcolbrushd;
1367         //colbrushd_t **colbrushdlist;
1368 }
1369 colbspnode_t;
1370
1371 typedef struct colbsp_s
1372 {
1373         mempool_t *mempool;
1374         colbspnode_t *nodes;
1375 }
1376 colbsp_t;
1377
1378 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1379 {
1380         colbsp_t *bsp;
1381         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1382         bsp->mempool = mempool;
1383         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1384         return bsp;
1385 }
1386
1387 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1388 {
1389         if (node->children[0])
1390                 Collision_FreeCollisionBSPNode(node->children[0]);
1391         if (node->children[1])
1392                 Collision_FreeCollisionBSPNode(node->children[1]);
1393         while (--node->numcolbrushf)
1394                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1395         //while (--node->numcolbrushd)
1396         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1397         Mem_Free(node);
1398 }
1399
1400 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1401 {
1402         Collision_FreeCollisionBSPNode(bsp->nodes);
1403         Mem_Free(bsp);
1404 }
1405
1406 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1407 {
1408         int i;
1409         colpointf_t *ps, *pe;
1410         float tempstart[3], tempend[3];
1411         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1412         VectorCopy(mins, maxs);
1413         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1414         {
1415                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1416                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1417                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1418                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1419                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1420                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1421                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1422                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1423         }
1424         mins[0] -= 1;
1425         mins[1] -= 1;
1426         mins[2] -= 1;
1427         maxs[0] += 1;
1428         maxs[1] += 1;
1429         maxs[2] += 1;
1430 }
1431