collision.c

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