collision.c

   1
   2 #include "quakedef.h"
   3 #include "winding.h"
   4
   5 // 1/32 epsilon to keep floating point happy
   6 #define DIST_EPSILON (0.03125)
   7
   8 #if 0
   9 typedef struct
  10 {
  11         // the hull we're tracing through
  12         const hull_t *hull;
  13
  14         // the trace structure to fill in
  15         trace_t *trace;
  16
  17         // start and end of the trace (in model space)
  18         double start[3];
  19         double end[3];
  20
  21         // end - start
  22         double dist[3];
  23
  24         // overrides the CONTENTS_SOLID in the box bsp tree
  25         int boxsupercontents;
  26 }
  27 RecursiveHullCheckTraceInfo_t;
  28
  29 #define HULLCHECKSTATE_EMPTY 0
  30 #define HULLCHECKSTATE_SOLID 1
  31 #define HULLCHECKSTATE_DONE 2
  32
  33 static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
  34 {
  35         // status variables, these don't need to be saved on the stack when
  36         // recursing...  but are because this should be thread-safe
  37         // (note: tracing against a bbox is not thread-safe, yet)
  38         int ret;
  39         mplane_t *plane;
  40         double t1, t2;
  41
  42         // variables that need to be stored on the stack when recursing
  43         dclipnode_t *node;
  44         int side;
  45         double midf, mid[3];
  46
  47         // LordHavoc: a goto!  everyone flee in terror... :)
  48 loc0:
  49         // check for empty
  50         if (num < 0)
  51         {
  52                 num = Mod_Q1BSP_SuperContentsFromNativeContents(NULL, num);
  53                 if (!t->trace->startfound)
  54                 {
  55                         t->trace->startfound = true;
  56                         t->trace->startsupercontents |= num;
  57                 }
  58                 if (num & SUPERCONTENTS_LIQUIDSMASK)
  59                         t->trace->inwater = true;
  60                 if (num == 0)
  61                         t->trace->inopen = true;
  62                 if (num & t->trace->hitsupercontentsmask)
  63                 {
  64                         // if the first leaf is solid, set startsolid
  65                         if (t->trace->allsolid)
  66                                 t->trace->startsolid = true;
  67 #if COLLISIONPARANOID >= 3
  68                         Con_Printf("S");
  69 #endif
  70                         return HULLCHECKSTATE_SOLID;
  71                 }
  72                 else
  73                 {
  74                         t->trace->allsolid = false;
  75 #if COLLISIONPARANOID >= 3
  76                         Con_Printf("E");
  77 #endif
  78                         return HULLCHECKSTATE_EMPTY;
  79                 }
  80         }
  81
  82         // find the point distances
  83         node = t->hull->clipnodes + num;
  84
  85         plane = t->hull->planes + node->planenum;
  86         if (plane->type < 3)
  87         {
  88                 t1 = p1[plane->type] - plane->dist;
  89                 t2 = p2[plane->type] - plane->dist;
  90         }
  91         else
  92         {
  93                 t1 = DotProduct (plane->normal, p1) - plane->dist;
  94                 t2 = DotProduct (plane->normal, p2) - plane->dist;
  95         }
  96
  97         if (t1 < 0)
  98         {
  99                 if (t2 < 0)
 100                 {
 101 #if COLLISIONPARANOID >= 3
 102                         Con_Printf("<");
 103 #endif
 104                         num = node->children[1];
 105                         goto loc0;
 106                 }
 107                 side = 1;
 108         }
 109         else
 110         {
 111                 if (t2 >= 0)
 112                 {
 113 #if COLLISIONPARANOID >= 3
 114                         Con_Printf(">");
 115 #endif
 116                         num = node->children[0];
 117                         goto loc0;
 118                 }
 119                 side = 0;
 120         }
 121
 122         // the line intersects, find intersection point
 123         // LordHavoc: this uses the original trace for maximum accuracy
 124 #if COLLISIONPARANOID >= 3
 125         Con_Printf("M");
 126 #endif
 127         if (plane->type < 3)
 128         {
 129                 t1 = t->start[plane->type] - plane->dist;
 130                 t2 = t->end[plane->type] - plane->dist;
 131         }
 132         else
 133         {
 134                 t1 = DotProduct (plane->normal, t->start) - plane->dist;
 135                 t2 = DotProduct (plane->normal, t->end) - plane->dist;
 136         }
 137
 138         midf = t1 / (t1 - t2);
 139         midf = bound(p1f, midf, p2f);
 140         VectorMA(t->start, midf, t->dist, mid);
 141
 142         // recurse both sides, front side first
 143         ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
 144         // if this side is not empty, return what it is (solid or done)
 145         if (ret != HULLCHECKSTATE_EMPTY)
 146                 return ret;
 147
 148         ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
 149         // if other side is not solid, return what it is (empty or done)
 150         if (ret != HULLCHECKSTATE_SOLID)
 151                 return ret;
 152
 153         // front is air and back is solid, this is the impact point...
 154         if (side)
 155         {
 156                 t->trace->plane.dist = -plane->dist;
 157                 VectorNegate (plane->normal, t->trace->plane.normal);
 158         }
 159         else
 160         {
 161                 t->trace->plane.dist = plane->dist;
 162                 VectorCopy (plane->normal, t->trace->plane.normal);
 163         }
 164
 165         // bias away from surface a bit
 166         t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
 167         t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
 168
 169         midf = t1 / (t1 - t2);
 170         t->trace->fraction = bound(0.0f, midf, 1.0);
 171
 172 #if COLLISIONPARANOID >= 3
 173         Con_Printf("D");
 174 #endif
 175         return HULLCHECKSTATE_DONE;
 176 }
 177
 178 #if 0
 179 // used if start and end are the same
 180 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
 181 {
 182         // If you can read this, you understand BSP trees
 183         while (num >= 0)
 184                 num = t->hull->clipnodes[num].children[((t->hull->planes[t->hull->clipnodes[num].planenum].type < 3) ? (t->start[t->hull->planes[t->hull->clipnodes[num].planenum].type]) : (DotProduct(t->hull->planes[t->hull->clipnodes[num].planenum].normal, t->start))) < t->hull->planes[t->hull->clipnodes[num].planenum].dist];
 185
 186         // check for empty
 187         t->trace->endcontents = num;
 188         if (t->trace->thiscontents)
 189         {
 190                 if (num == t->trace->thiscontents)
 191                         t->trace->allsolid = false;
 192                 else
 193                 {
 194                         // if the first leaf is solid, set startsolid
 195                         if (t->trace->allsolid)
 196                                 t->trace->startsolid = true;
 197                 }
 198         }
 199         else
 200         {
 201                 if (num != CONTENTS_SOLID)
 202                 {
 203                         t->trace->allsolid = false;
 204                         if (num == CONTENTS_EMPTY)
 205                                 t->trace->inopen = true;
 206                         else
 207                                 t->trace->inwater = true;
 208                 }
 209                 else
 210                 {
 211                         // if the first leaf is solid, set startsolid
 212                         if (t->trace->allsolid)
 213                                 t->trace->startsolid = true;
 214                 }
 215         }
 216 }
 217 #endif
 218
 219 static hull_t box_hull;
 220 static dclipnode_t box_clipnodes[6];
 221 static mplane_t box_planes[6];
 222
 223 void Mod_Q1BSP_Collision_Init (void)
 224 {
 225         int             i;
 226         int             side;
 227
 228         //Set up the planes and clipnodes so that the six floats of a bounding box
 229         //can just be stored out and get a proper hull_t structure.
 230
 231         box_hull.clipnodes = box_clipnodes;
 232         box_hull.planes = box_planes;
 233         box_hull.firstclipnode = 0;
 234         box_hull.lastclipnode = 5;
 235
 236         for (i = 0;i < 6;i++)
 237         {
 238                 box_clipnodes[i].planenum = i;
 239
 240                 side = i&1;
 241
 242                 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
 243                 if (i != 5)
 244                         box_clipnodes[i].children[side^1] = i + 1;
 245                 else
 246                         box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
 247
 248                 box_planes[i].type = i>>1;
 249                 box_planes[i].normal[i>>1] = 1;
 250         }
 251 }
 252
 253 void Collision_ClipTrace_Box(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int boxsupercontents)
 254 {
 255         RecursiveHullCheckTraceInfo_t rhc;
 256         // fill in a default trace
 257         memset(&rhc, 0, sizeof(rhc));
 258         memset(trace, 0, sizeof(trace_t));
 259         //To keep everything totally uniform, bounding boxes are turned into small
 260         //BSP trees instead of being compared directly.
 261         // create a temp hull from bounding box sizes
 262         box_planes[0].dist = cmaxs[0] - mins[0];
 263         box_planes[1].dist = cmins[0] - maxs[0];
 264         box_planes[2].dist = cmaxs[1] - mins[1];
 265         box_planes[3].dist = cmins[1] - maxs[1];
 266         box_planes[4].dist = cmaxs[2] - mins[2];
 267         box_planes[5].dist = cmins[2] - maxs[2];
 268         // trace a line through the generated clipping hull
 269         rhc.boxsupercontents = boxsupercontents;
 270         rhc.hull = &box_hull;
 271         rhc.trace = trace;
 272         rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
 273         rhc.trace->fraction = 1;
 274         rhc.trace->allsolid = true;
 275         VectorCopy(start, rhc.start);
 276         VectorCopy(end, rhc.end);
 277         VectorSubtract(rhc.end, rhc.start, rhc.dist);
 278         Mod_Q1BSP_RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
 279         VectorMA(rhc.start, rhc.trace->fraction, rhc.dist, rhc.trace->endpos);
 280         if (rhc.trace->startsupercontents)
 281                 rhc.trace->startsupercontents = boxsupercontents;
 282 }
 283 #endif
 284
 285 void Collision_Init (void)
 286 {
 287 }
 288
 289
 290
 291
 292
 293
 294
 295
 296
 297
 298
 299
 300
 301
 302 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
 303 {
 304         int i;
 305         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
 306         for (i = 0;i < brush->numpoints;i++)
 307                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
 308         // FIXME: optimize!
 309         Con_Printf("4\n%i\n", brush->numplanes);
 310         for (i = 0;i < brush->numplanes;i++)
 311                 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);
 312 }
 313
 314 void Collision_ValidateBrush(colbrushf_t *brush)
 315 {
 316         int j, k, pointsoffplanes, printbrush;
 317         float d;
 318         printbrush = false;
 319         if (!brush->numpoints)
 320         {
 321                 Con_Printf("Collision_ValidateBrush: brush with no points!\n");
 322                 printbrush = true;
 323         }
 324 #if 0
 325         // it's ok for a brush to have one point and no planes...
 326         if (brush->numplanes == 0 && brush->numpoints != 1)
 327         {
 328                 Con_Printf("Collision_ValidateBrush: brush with no planes and more than one point!\n");
 329                 printbrush = true;
 330         }
 331 #endif
 332         if (brush->numplanes)
 333         {
 334                 pointsoffplanes = 0;
 335                 for (k = 0;k < brush->numplanes;k++)
 336                 {
 337                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
 338                                 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);
 339                         for (j = 0;j < brush->numpoints;j++)
 340                         {
 341                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
 342                                 if (d > (1.0f / 8.0f))
 343                                 {
 344                                         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);
 345                                         printbrush = true;
 346                                 }
 347                                 if (fabs(d) > 0.01f)
 348                                         pointsoffplanes++;
 349                         }
 350                 }
 351                 if (pointsoffplanes == 0) // all points are on all planes
 352                 {
 353                         Con_Printf("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
 354                         printbrush = true;
 355                 }
 356         }
 357         if (printbrush)
 358                 Collision_PrintBrushAsQHull(brush, "unnamed");
 359 }
 360
 361 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 362 {
 363         float dist, bestdist;
 364         bestdist = DotProduct(points->v, normal);
 365         points++;
 366         while(--numpoints)
 367         {
 368                 dist = DotProduct(points->v, normal);
 369                 bestdist = min(bestdist, dist);
 370                 points++;
 371         }
 372         return bestdist;
 373 }
 374
 375 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
 376 {
 377         float dist, bestdist;
 378         bestdist = DotProduct(points->v, normal);
 379         points++;
 380         while(--numpoints)
 381         {
 382                 dist = DotProduct(points->v, normal);
 383                 bestdist = max(bestdist, dist);
 384                 points++;
 385         }
 386         return bestdist;
 387 }
 388
 389
 390 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents, winding_t *temp1, winding_t *temp2)
 391 {
 392         int j, k, m;
 393         int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
 394         winding_t *w, *temp, *othertemp;
 395         colbrushf_t *brush;
 396         colpointf_t pointsbuf[256];
 397         colplanef_t planesbuf[256];
 398         int elementsbuf[1024];
 399         int polypointbuf[256];
 400         float mins[3], maxs[3];
 401         // construct a collision brush (points, planes, and renderable mesh) from
 402         // a set of planes, this also optimizes out any unnecessary planes (ones
 403         // whose polygon is clipped away by the other planes)
 404         numpoints = 0;maxpoints = 256;
 405         numplanes = 0;maxplanes = 256;
 406         numelements = 0;maxelements = 1024;
 407         numtriangles = 0;
 408         maxpolypoints = 256;
 409         for (j = 0;j < numoriginalplanes;j++)
 410         {
 411                 // add the plane uniquely (no duplicates)
 412                 for (k = 0;k < numplanes;k++)
 413                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
 414                                 break;
 415                 // if the plane is a duplicate, skip it
 416                 if (k < numplanes)
 417                         continue;
 418                 // check if there are too many and skip the brush
 419                 if (numplanes >= 256)
 420                 {
 421                         Con_Printf("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
 422                         return NULL;
 423                 }
 424
 425                 // create a large polygon from the plane
 426                 w = temp1;
 427                 othertemp = temp2;
 428                 BufWinding_NewFromPlane(w, originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
 429                 // clip it by all other planes
 430                 for (k = 0;k < numoriginalplanes && w->numpoints;k++)
 431                 {
 432                         if (k != j)
 433                         {
 434                                 // we want to keep the inside of the brush plane so we flip
 435                                 // the cutting plane
 436                                 BufWinding_Divide(w, -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, othertemp, NULL, NULL, NULL);
 437                                 temp = w;
 438                                 w = othertemp;
 439                                 othertemp = temp;
 440                         }
 441                 }
 442                 // if nothing is left, skip it
 443                 if (!w->numpoints)
 444                         continue;
 445
 446                 // copy off the number of points for later when the winding is freed
 447                 numpolypoints = w->numpoints;
 448
 449                 // check if there are too many polygon vertices for buffer
 450                 if (numpolypoints > maxpolypoints)
 451                 {
 452                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 453                         return NULL;
 454                 }
 455
 456                 // check if there are too many triangle elements for buffer
 457                 if (numelements + (w->numpoints - 2) * 3 > maxelements)
 458                 {
 459                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
 460                         return NULL;
 461                 }
 462
 463                 for (k = 0;k < w->numpoints;k++)
 464                 {
 465                         // check if there is already a matching point (no duplicates)
 466                         for (m = 0;m < numpoints;m++)
 467                                 if (VectorDistance2(w->points[k], pointsbuf[m].v) < DIST_EPSILON)
 468                                         break;
 469
 470                         // if there is no match, add a new one
 471                         if (m == numpoints)
 472                         {
 473                                 // check if there are too many and skip the brush
 474                                 if (numpoints >= 256)
 475                                 {
 476                                         Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
 477                                         Winding_Free(w);
 478                                         return NULL;
 479                                 }
 480                                 // add the new one
 481                                 VectorCopy(w->points[k], pointsbuf[numpoints].v);
 482                                 numpoints++;
 483                         }
 484
 485                         // store the index into a buffer
 486                         polypointbuf[k] = m;
 487                 }
 488                 w = NULL;
 489                 othertemp = NULL;
 490                 temp = NULL;
 491
 492                 // add the triangles for the polygon
 493                 // (this particular code makes a triangle fan)
 494                 for (k = 0;k < numpolypoints - 2;k++)
 495                 {
 496                         numtriangles++;
 497                         elementsbuf[numelements++] = polypointbuf[0];
 498                         elementsbuf[numelements++] = polypointbuf[k + 1];
 499                         elementsbuf[numelements++] = polypointbuf[k + 2];
 500                 }
 501
 502                 // add the new plane
 503                 VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
 504                 planesbuf[numplanes].dist = originalplanes[j].dist;
 505                 numplanes++;
 506         }
 507
 508         // recalc distances
 509         for (j = 0;j < numplanes;j++)
 510                 planesbuf[j].dist = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpoints);
 511
 512         if (numpoints)
 513         {
 514                 VectorCopy(pointsbuf[0].v, mins);
 515                 VectorCopy(pointsbuf[0].v, maxs);
 516                 for (j = 1;j < numpoints;j++)
 517                 {
 518                         mins[0] = min(mins[0], pointsbuf[j].v[0]);
 519                         mins[1] = min(mins[1], pointsbuf[j].v[1]);
 520                         mins[2] = min(mins[2], pointsbuf[j].v[2]);
 521                         maxs[0] = max(maxs[0], pointsbuf[j].v[0]);
 522                         maxs[1] = max(maxs[1], pointsbuf[j].v[1]);
 523                         maxs[2] = max(maxs[2], pointsbuf[j].v[2]);
 524                 }
 525         }
 526
 527         // if nothing is left, there's nothing to allocate
 528         if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
 529                 return NULL;
 530
 531         // allocate the brush and copy to it
 532         brush = Collision_AllocBrushFloat(mempool, numpoints, numplanes, numtriangles, supercontents);
 533         memcpy(brush->points, pointsbuf, numpoints * sizeof(colpointf_t));
 534         memcpy(brush->planes, planesbuf, numplanes * sizeof(colplanef_t));
 535         memcpy(brush->elements, elementsbuf, numtriangles * sizeof(int[3]));
 536         VectorCopy(mins, brush->mins);
 537         VectorCopy(maxs, brush->maxs);
 538         Collision_ValidateBrush(brush);
 539         return brush;
 540 }
 541
 542
 543
 544 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
 545 {
 546         colbrushf_t *brush;
 547         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
 548         brush->supercontents = supercontents;
 549         brush->numplanes = numplanes;
 550         brush->numpoints = numpoints;
 551         brush->numtriangles = numtriangles;
 552         brush->planes = (void *)(brush + 1);
 553         brush->points = (void *)(brush->planes + brush->numplanes);
 554         brush->elements = (void *)(brush->points + brush->numpoints);
 555         return brush;
 556 }
 557
 558 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
 559 {
 560         int i;
 561         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
 562         colpointf_t *p, *p2;
 563
 564         if (brush->numpoints == 3)
 565         {
 566                 // optimized triangle case
 567                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
 568                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
 569                 {
 570                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 571                         brush->numplanes = 0;
 572                         return;
 573                 }
 574                 else
 575                 {
 576                         brush->numplanes = 5;
 577                         VectorNormalize(brush->planes[0].normal);
 578                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
 579                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 580                         brush->planes[1].dist = -brush->planes[0].dist;
 581                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
 582                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
 583                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
 584                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
 585                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
 586                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
 587                         VectorNormalize(brush->planes[2].normal);
 588                         VectorNormalize(brush->planes[3].normal);
 589                         VectorNormalize(brush->planes[4].normal);
 590                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
 591                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
 592                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
 593
 594                         if (developer.integer)
 595                         {
 596                                 // validation code
 597                                 //VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
 598                                 //VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
 599                                 CrossProduct(edge1, edge0, normal);
 600                                 VectorNormalize(normal);
 601                                 VectorSubtract(normal, brush->planes[0].normal, temp);
 602                                 if (VectorLength(temp) > 0.01f)
 603                                         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]);
 604                                 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)
 605                                         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);
 606                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
 607                                         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);
 608                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
 609                                         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);
 610                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
 611                                         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);
 612                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
 613                                         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]);
 614                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
 615                                         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]);
 616                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
 617                                         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]);
 618                                 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)
 619                                         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);
 620                                 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)
 621                                         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);
 622                                 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)
 623                                         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);
 624                                 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)
 625                                         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);
 626                                 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)
 627                                         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);
 628                         }
 629                 }
 630         }
 631         else
 632         {
 633                 // choose best surface normal for polygon's plane
 634                 bestdist = 0;
 635                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
 636                 {
 637                         VectorSubtract(p[-1].v, p[0].v, edge0);
 638                         VectorSubtract(p[1].v, p[0].v, edge1);
 639                         CrossProduct(edge0, edge1, normal);
 640                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
 641                         dist = DotProduct(normal, normal);
 642                         if (i == 0 || bestdist < dist)
 643                         {
 644                                 bestdist = dist;
 645                                 VectorCopy(normal, brush->planes->normal);
 646                         }
 647                 }
 648                 if (bestdist < 0.0001f)
 649                 {
 650                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
 651                         brush->numplanes = 0;
 652                         return;
 653                 }
 654                 else
 655                 {
 656                         brush->numplanes = brush->numpoints + 2;
 657                         VectorNormalize(brush->planes->normal);
 658                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 659
 660                         // negate plane to create other side
 661                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
 662                         brush->planes[1].dist = -brush->planes[0].dist;
 663                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
 664                         {
 665                                 VectorSubtract(p->v, p2->v, edge0);
 666                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
 667                                 VectorNormalize(brush->planes[i + 2].normal);
 668                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
 669                         }
 670                 }
 671         }
 672
 673         if (developer.integer)
 674         {
 675                 // validity check - will be disabled later
 676                 Collision_ValidateBrush(brush);
 677                 for (i = 0;i < brush->numplanes;i++)
 678                 {
 679                         int j;
 680                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
 681                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
 682                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
 683                 }
 684         }
 685 }
 686
 687 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
 688 {
 689         colbrushf_t *brush;
 690         brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
 691         brush->supercontents = supercontents;
 692         brush->numpoints = numpoints;
 693         brush->numplanes = numpoints + 2;
 694         brush->planes = (void *)(brush + 1);
 695         brush->points = (colpointf_t *)points;
 696         Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
 697         return brush;
 698 }
 699
 700 #define COLLISIONEPSILON (1.0f / 32.0f)
 701 #define COLLISIONEPSILON2 0//(1.0f / 32.0f)
 702
 703 // NOTE: start and end of each brush pair must have same numplanes/numpoints
 704 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)
 705 {
 706         int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
 707         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 708         const colplanef_t *startplane, *endplane;
 709
 710         enterfrac = -1;
 711         leavefrac = 1;
 712         fstartsolid = true;
 713         fendsolid = true;
 714
 715         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 716         {
 717                 nplane2 = nplane;
 718                 if (nplane2 >= thatbrush_start->numplanes)
 719                 {
 720                         nplane2 -= thatbrush_start->numplanes;
 721                         startplane = thisbrush_start->planes + nplane2;
 722                         endplane = thisbrush_end->planes + nplane2;
 723                         if (developer.integer)
 724                         {
 725                                 // any brush with degenerate planes is not worth handling
 726                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 727                                 {
 728                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
 729                                         return;
 730                                 }
 731                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
 732                                 if (fabs(f - startplane->dist) > 0.01f)
 733                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
 734                         }
 735                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 736                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
 737                 }
 738                 else
 739                 {
 740                         startplane = thatbrush_start->planes + nplane2;
 741                         endplane = thatbrush_end->planes + nplane2;
 742                         if (developer.integer)
 743                         {
 744                                 // any brush with degenerate planes is not worth handling
 745                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 746                                 {
 747                                         Con_Printf("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
 748                                         return;
 749                                 }
 750                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 751                                 if (fabs(f - startplane->dist) > 0.01f)
 752                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
 753                         }
 754                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist;
 755                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - startplane->dist - COLLISIONEPSILON2;
 756                 }
 757                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
 758
 759                 f = d1 - d2;
 760                 if (f >= 0)
 761                 {
 762                         // moving into brush
 763                         if (d2 > 0)
 764                                 return;
 765                         if (d1 < 0)
 766                                 continue;
 767                         // enter
 768                         fstartsolid = false;
 769                         f = (d1 - COLLISIONEPSILON) / f;
 770                         f = bound(0, f, 1);
 771                         if (enterfrac < f)
 772                         {
 773                                 enterfrac = f;
 774                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 775                         }
 776                 }
 777                 else
 778                 {
 779                         // moving out of brush
 780                         if (d1 > 0)
 781                                 return;
 782                         if (d2 < 0)
 783                                 continue;
 784                         // leave
 785                         fendsolid = false;
 786                         f = (d1 + COLLISIONEPSILON) / f;
 787                         f = bound(0, f, 1);
 788                         if (leavefrac > f)
 789                                 leavefrac = f;
 790                 }
 791         }
 792
 793         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 794         if (fstartsolid)
 795         {
 796                 trace->startsupercontents |= thatbrush_start->supercontents;
 797                 if (brushsolid)
 798                 {
 799                         trace->startsolid = true;
 800                         if (fendsolid)
 801                                 trace->allsolid = true;
 802                 }
 803         }
 804
 805         // LordHavoc: we need an epsilon nudge here because for a point trace the
 806         // penetrating line segment is normally zero length if this brush was
 807         // generated from a polygon (infinitely thin), and could even be slightly
 808         // positive or negative due to rounding errors in that case.
 809         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 810         {
 811                 trace->fraction = bound(0, enterfrac, 1);
 812                 VectorCopy(newimpactnormal, trace->plane.normal);
 813         }
 814 }
 815
 816 // NOTE: start and end brush pair must have same numplanes/numpoints
 817 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
 818 {
 819         int nplane, fstartsolid, fendsolid, brushsolid;
 820         float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
 821         const colplanef_t *startplane, *endplane;
 822
 823         enterfrac = -1;
 824         leavefrac = 1;
 825         fstartsolid = true;
 826         fendsolid = true;
 827
 828         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 829         {
 830                 startplane = thatbrush_start->planes + nplane;
 831                 endplane = thatbrush_end->planes + nplane;
 832                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
 833                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - COLLISIONEPSILON2;
 834                 if (developer.integer)
 835                 {
 836                         // any brush with degenerate planes is not worth handling
 837                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
 838                         {
 839                                 Con_Printf("Collision_TraceLineBrushFloat: degenerate plane!\n");
 840                                 return;
 841                         }
 842                         if (thatbrush_start->numpoints)
 843                         {
 844                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
 845                                 if (fabs(f - startplane->dist) > 0.01f)
 846                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
 847                         }
 848                 }
 849
 850                 f = d1 - d2;
 851                 if (f >= 0)
 852                 {
 853                         // moving into brush
 854                         if (d2 > 0)
 855                                 return;
 856                         if (d1 < 0)
 857                                 continue;
 858                         // enter
 859                         fstartsolid = false;
 860                         f = (d1 - COLLISIONEPSILON) / f;
 861                         f = bound(0, f, 1);
 862                         if (enterfrac < f)
 863                         {
 864                                 enterfrac = f;
 865                                 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
 866                         }
 867                 }
 868                 else
 869                 {
 870                         // moving out of brush
 871                         if (d1 > 0)
 872                                 return;
 873                         if (d2 < 0)
 874                                 continue;
 875                         // leave
 876                         fendsolid = false;
 877                         f = (d1 + COLLISIONEPSILON) / f;
 878                         f = bound(0, f, 1);
 879                         if (leavefrac > f)
 880                                 leavefrac = f;
 881                 }
 882         }
 883
 884         brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
 885         if (fstartsolid)
 886         {
 887                 trace->startsupercontents |= thatbrush_start->supercontents;
 888                 if (brushsolid)
 889                 {
 890                         trace->startsolid = true;
 891                         if (fendsolid)
 892                                 trace->allsolid = true;
 893                 }
 894         }
 895
 896         // LordHavoc: we need an epsilon nudge here because for a point trace the
 897         // penetrating line segment is normally zero length if this brush was
 898         // generated from a polygon (infinitely thin), and could even be slightly
 899         // positive or negative due to rounding errors in that case.
 900         if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
 901         {
 902                 trace->fraction = bound(0, enterfrac, 1);
 903                 VectorCopy(newimpactnormal, trace->plane.normal);
 904         }
 905 }
 906
 907 static colpointf_t polyf_points[256];
 908 static colplanef_t polyf_planes[256 + 2];
 909 static colbrushf_t polyf_brush;
 910
 911 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
 912 {
 913         if (numpoints > 256)
 914         {
 915                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 916                 return;
 917         }
 918         polyf_brush.numpoints = numpoints;
 919         polyf_brush.numplanes = numpoints + 2;
 920         polyf_brush.points = (colpointf_t *)points;
 921         polyf_brush.planes = polyf_planes;
 922         polyf_brush.supercontents = supercontents;
 923         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 924         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 925         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 926 }
 927
 928 void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
 929 {
 930         int i;
 931         float facemins[3], facemaxs[3];
 932         polyf_brush.numpoints = 3;
 933         polyf_brush.numplanes = 5;
 934         polyf_brush.points = polyf_points;
 935         polyf_brush.planes = polyf_planes;
 936         polyf_brush.supercontents = supercontents;
 937         for (i = 0;i < numtriangles;i++, element3i += 3)
 938         {
 939                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 940                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 941                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 942                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 943                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 944                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 945                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 946                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 947                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 948                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 949                 {
 950                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 951                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 952                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
 953                 }
 954         }
 955 }
 956
 957 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
 958 {
 959         if (numpoints > 256)
 960         {
 961                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
 962                 return;
 963         }
 964         polyf_brush.numpoints = numpoints;
 965         polyf_brush.numplanes = numpoints + 2;
 966         polyf_brush.points = (colpointf_t *)points;
 967         polyf_brush.planes = polyf_planes;
 968         polyf_brush.supercontents = supercontents;
 969         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 970         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 971         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 972 }
 973
 974 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
 975 {
 976         int i;
 977         float facemins[3], facemaxs[3];
 978         polyf_brush.numpoints = 3;
 979         polyf_brush.numplanes = 5;
 980         polyf_brush.points = polyf_points;
 981         polyf_brush.planes = polyf_planes;
 982         polyf_brush.supercontents = supercontents;
 983         for (i = 0;i < numtriangles;i++, element3i += 3)
 984         {
 985                 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
 986                 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
 987                 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
 988                 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
 989                 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
 990                 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
 991                 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
 992                 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
 993                 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
 994                 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
 995                 {
 996                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
 997                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
 998                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
 999                 }
1000         }
1001 }
1002
1003
1004 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
1005 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
1006 static colbrushf_t polyf_brushstart, polyf_brushend;
1007
1008 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)
1009 {
1010         int i;
1011         if (numpoints > 256)
1012         {
1013                 Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
1014                 return;
1015         }
1016         polyf_brushstart.numpoints = numpoints;
1017         polyf_brushstart.numplanes = numpoints + 2;
1018         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
1019         polyf_brushstart.planes = polyf_planesstart;
1020         polyf_brushstart.supercontents = supercontents;
1021         for (i = 0;i < numpoints;i++)
1022                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
1023         polyf_brushend.numpoints = numpoints;
1024         polyf_brushend.numplanes = numpoints + 2;
1025         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
1026         polyf_brushend.planes = polyf_planesend;
1027         polyf_brushend.supercontents = supercontents;
1028         for (i = 0;i < numpoints;i++)
1029                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
1030         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
1031         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
1032
1033         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1034         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1035
1036         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1037 }
1038
1039
1040
1041 #define MAX_BRUSHFORBOX 16
1042 static int brushforbox_index = 0;
1043 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1044 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1045 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1046 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1047
1048 void Collision_InitBrushForBox(void)
1049 {
1050         int i;
1051         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1052         {
1053                 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
1054                 brushforbox_brush[i].numpoints = 8;
1055                 brushforbox_brush[i].numplanes = 6;
1056                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1057                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1058                 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
1059                 brushforpoint_brush[i].numpoints = 1;
1060                 brushforpoint_brush[i].numplanes = 0;
1061                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1062                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1063         }
1064 }
1065
1066 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1067 {
1068         int i;
1069         vec3_t v;
1070         colbrushf_t *brush;
1071         if (brushforbox_brush[0].numpoints == 0)
1072                 Collision_InitBrushForBox();
1073         if (VectorCompare(mins, maxs))
1074         {
1075                 // point brush
1076                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1077                 VectorCopy(mins, brush->points->v);
1078         }
1079         else
1080         {
1081                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1082                 // FIXME: optimize
1083                 for (i = 0;i < 8;i++)
1084                 {
1085                         v[0] = i & 1 ? maxs[0] : mins[0];
1086                         v[1] = i & 2 ? maxs[1] : mins[1];
1087                         v[2] = i & 4 ? maxs[2] : mins[2];
1088                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1089                 }
1090                 // FIXME: optimize!
1091                 for (i = 0;i < 6;i++)
1092                 {
1093                         VectorClear(v);
1094                         v[i >> 1] = i & 1 ? 1 : -1;
1095                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1096                         VectorNormalize(brush->planes[i].normal);
1097                         brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
1098                 }
1099         }
1100         Collision_ValidateBrush(brush);
1101         return brush;
1102 }
1103
1104 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)
1105 {
1106         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1107         matrix4x4_t identitymatrix;
1108         vec3_t startmins, startmaxs, endmins, endmaxs;
1109
1110         // create brushes for the collision
1111         VectorAdd(start, mins, startmins);
1112         VectorAdd(start, maxs, startmaxs);
1113         VectorAdd(end, mins, endmins);
1114         VectorAdd(end, maxs, endmaxs);
1115         Matrix4x4_CreateIdentity(&identitymatrix);
1116         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1117         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1118         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1119
1120         memset(trace, 0, sizeof(trace_t));
1121         trace->hitsupercontentsmask = hitsupercontentsmask;
1122         trace->fraction = 1;
1123         trace->allsolid = true;
1124         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1125 }
1126
1127 // LordHavoc: currently unused and not yet tested
1128 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1129 // by simply adding the moving sphere's radius to the sphereradius parameter,
1130 // all the results are correct (impactpoint, impactnormal, and fraction)
1131 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1132 {
1133         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1134         // make sure the impactpoint and impactnormal are valid even if there is
1135         // no collision
1136         impactpoint[0] = lineend[0];
1137         impactpoint[1] = lineend[1];
1138         impactpoint[2] = lineend[2];
1139         impactnormal[0] = 0;
1140         impactnormal[1] = 0;
1141         impactnormal[2] = 0;
1142         // calculate line direction
1143         dir[0] = lineend[0] - linestart[0];
1144         dir[1] = lineend[1] - linestart[1];
1145         dir[2] = lineend[2] - linestart[2];
1146         // normalize direction
1147         linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
1148         if (linelength)
1149         {
1150                 scale = 1.0 / linelength;
1151                 dir[0] *= scale;
1152                 dir[1] *= scale;
1153                 dir[2] *= scale;
1154         }
1155         // this dotproduct calculates the distance along the line at which the
1156         // sphere origin is (nearest point to the sphere origin on the line)
1157         impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
1158         // calculate point on line at that distance, and subtract the
1159         // sphereorigin from it, so we have a vector to measure for the distance
1160         // of the line from the sphereorigin (deviation, how off-center it is)
1161         v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
1162         v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
1163         v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
1164         deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
1165         // if outside the radius, it's a miss for sure
1166         // (we do this comparison using squared radius to avoid a sqrt)
1167         if (deviationdist > sphereradius*sphereradius)
1168                 return 1; // miss (off to the side)
1169         // nudge back to find the correct impact distance
1170         impactdist += (sqrt(deviationdist) - sphereradius);
1171         if (impactdist >= linelength)
1172                 return 1; // miss (not close enough)
1173         if (impactdist < 0)
1174                 return 1; // miss (linestart is past or inside sphere)
1175         // calculate new impactpoint
1176         impactpoint[0] = linestart[0] + impactdist * dir[0];
1177         impactpoint[1] = linestart[1] + impactdist * dir[1];
1178         impactpoint[2] = linestart[2] + impactdist * dir[2];
1179         // calculate impactnormal (surface normal at point of impact)
1180         impactnormal[0] = impactpoint[0] - sphereorigin[0];
1181         impactnormal[1] = impactpoint[1] - sphereorigin[1];
1182         impactnormal[2] = impactpoint[2] - sphereorigin[2];
1183         // normalize impactnormal
1184         scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
1185         if (scale)
1186         {
1187                 scale = 1.0 / sqrt(scale);
1188                 impactnormal[0] *= scale;
1189                 impactnormal[1] *= scale;
1190                 impactnormal[2] *= scale;
1191         }
1192         // return fraction of movement distance
1193         return impactdist / linelength;
1194 }
1195
1196 typedef struct colbspnode_s
1197 {
1198         mplane_t plane;
1199         struct colbspnode_s *children[2];
1200         // the node is reallocated or split if max is reached
1201         int numcolbrushf;
1202         int maxcolbrushf;
1203         colbrushf_t **colbrushflist;
1204         //int numcolbrushd;
1205         //int maxcolbrushd;
1206         //colbrushd_t **colbrushdlist;
1207 }
1208 colbspnode_t;
1209
1210 typedef struct colbsp_s
1211 {
1212         mempool_t *mempool;
1213         colbspnode_t *nodes;
1214 }
1215 colbsp_t;
1216
1217 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1218 {
1219         colbsp_t *bsp;
1220         bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
1221         bsp->mempool = mempool;
1222         bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1223         return bsp;
1224 }
1225
1226 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1227 {
1228         if (node->children[0])
1229                 Collision_FreeCollisionBSPNode(node->children[0]);
1230         if (node->children[1])
1231                 Collision_FreeCollisionBSPNode(node->children[1]);
1232         while (--node->numcolbrushf)
1233                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1234         //while (--node->numcolbrushd)
1235         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1236         Mem_Free(node);
1237 }
1238
1239 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1240 {
1241         Collision_FreeCollisionBSPNode(bsp->nodes);
1242         Mem_Free(bsp);
1243 }
1244
1245 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1246 {
1247         int i;
1248         colpointf_t *ps, *pe;
1249         float tempstart[3], tempend[3];
1250         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1251         VectorCopy(mins, maxs);
1252         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1253         {
1254                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1255                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1256                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1257                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1258                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1259                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1260                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1261                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1262         }
1263 }
1264