refactored end code in Collision_Trace*BrushFloat functions to fix a severe logic...
[xonotic/darkplaces.git] / 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 cvar_t collision_prefernudgedfraction = {0, "collision_prefernudgedfraction", "1", "whether to sort collision events by nudged fraction (1) or real fraction (0)"};
16
17 void Collision_Init (void)
18 {
19         Cvar_RegisterVariable(&collision_impactnudge);
20         Cvar_RegisterVariable(&collision_startnudge);
21         Cvar_RegisterVariable(&collision_endnudge);
22         Cvar_RegisterVariable(&collision_enternudge);
23         Cvar_RegisterVariable(&collision_leavenudge);
24         Cvar_RegisterVariable(&collision_prefernudgedfraction);
25 }
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
41 {
42         int i;
43         Con_Printf("3 %s\n%i\n", name, brush->numpoints);
44         for (i = 0;i < brush->numpoints;i++)
45                 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
46         // FIXME: optimize!
47         Con_Printf("4\n%i\n", brush->numplanes);
48         for (i = 0;i < brush->numplanes;i++)
49                 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);
50 }
51
52 void Collision_ValidateBrush(colbrushf_t *brush)
53 {
54         int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
55         float d;
56         printbrush = false;
57         if (!brush->numpoints)
58         {
59                 Con_Print("Collision_ValidateBrush: brush with no points!\n");
60                 printbrush = true;
61         }
62 #if 0
63         // it's ok for a brush to have one point and no planes...
64         if (brush->numplanes == 0 && brush->numpoints != 1)
65         {
66                 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
67                 printbrush = true;
68         }
69 #endif
70         if (brush->numplanes)
71         {
72                 pointsoffplanes = 0;
73                 pointswithinsufficientplanes = 0;
74                 for (k = 0;k < brush->numplanes;k++)
75                         if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
76                                 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);
77                 for (j = 0;j < brush->numpoints;j++)
78                 {
79                         pointonplanes = 0;
80                         for (k = 0;k < brush->numplanes;k++)
81                         {
82                                 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
83                                 if (d > COLLISION_PLANE_DIST_EPSILON)
84                                 {
85                                         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);
86                                         printbrush = true;
87                                 }
88                                 if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
89                                         pointsoffplanes++;
90                                 else
91                                         pointonplanes++;
92                         }
93                         if (pointonplanes < 3)
94                                 pointswithinsufficientplanes++;
95                 }
96                 if (pointswithinsufficientplanes)
97                 {
98                         Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
99                         printbrush = true;
100                 }
101                 if (pointsoffplanes == 0) // all points are on all planes
102                 {
103                         Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
104                         printbrush = true;
105                 }
106         }
107         if (printbrush)
108                 Collision_PrintBrushAsQHull(brush, "unnamed");
109 }
110
111 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
112 {
113         float dist, bestdist;
114         if (!numpoints)
115                 return 0;
116         bestdist = DotProduct(points->v, normal);
117         points++;
118         while(--numpoints)
119         {
120                 dist = DotProduct(points->v, normal);
121                 bestdist = min(bestdist, dist);
122                 points++;
123         }
124         return bestdist;
125 }
126
127 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
128 {
129         float dist, bestdist;
130         if (!numpoints)
131                 return 0;
132         bestdist = DotProduct(points->v, normal);
133         points++;
134         while(--numpoints)
135         {
136                 dist = DotProduct(points->v, normal);
137                 bestdist = max(bestdist, dist);
138                 points++;
139         }
140         return bestdist;
141 }
142
143
144 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
145 {
146         // TODO: planesbuf could be replaced by a remapping table
147         int j, k, m, w, xyzflags;
148         int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
149         double maxdist;
150         colbrushf_t *brush;
151         colpointf_t pointsbuf[256];
152         colplanef_t planesbuf[256];
153         int elementsbuf[1024];
154         int polypointbuf[256];
155         int pmaxpoints = 64;
156         int pnumpoints;
157         double p[2][3*64];
158 #if 0
159         // enable these if debugging to avoid seeing garbage in unused data
160         memset(pointsbuf, 0, sizeof(pointsbuf));
161         memset(planesbuf, 0, sizeof(planesbuf));
162         memset(elementsbuf, 0, sizeof(elementsbuf));
163         memset(polypointbuf, 0, sizeof(polypointbuf));
164         memset(p, 0, sizeof(p));
165 #endif
166         // figure out how large a bounding box we need to properly compute this brush
167         maxdist = 0;
168         for (j = 0;j < numoriginalplanes;j++)
169                 maxdist = max(maxdist, fabs(originalplanes[j].dist));
170         // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
171         maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
172         // construct a collision brush (points, planes, and renderable mesh) from
173         // a set of planes, this also optimizes out any unnecessary planes (ones
174         // whose polygon is clipped away by the other planes)
175         for (j = 0;j < numoriginalplanes;j++)
176         {
177                 // add the plane uniquely (no duplicates)
178                 for (k = 0;k < numplanesbuf;k++)
179                         if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
180                                 break;
181                 // if the plane is a duplicate, skip it
182                 if (k < numplanesbuf)
183                         continue;
184                 // check if there are too many and skip the brush
185                 if (numplanesbuf >= maxplanesbuf)
186                 {
187                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
188                         return NULL;
189                 }
190
191                 // add the new plane
192                 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
193                 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
194                 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
195                 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
196                 numplanesbuf++;
197
198                 // create a large polygon from the plane
199                 w = 0;
200                 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
201                 pnumpoints = 4;
202                 // clip it by all other planes
203                 for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
204                 {
205                         // skip the plane this polygon
206                         // (nothing happens if it is processed, this is just an optimization)
207                         if (k != j)
208                         {
209                                 // we want to keep the inside of the brush plane so we flip
210                                 // the cutting plane
211                                 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);
212                                 w = !w;
213                         }
214                 }
215
216                 // if nothing is left, skip it
217                 if (pnumpoints < 3)
218                 {
219                         //Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon for plane %f %f %f %f clipped away\n", originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
220                         continue;
221                 }
222
223                 for (k = 0;k < pnumpoints;k++)
224                 {
225                         int l, m;
226                         m = 0;
227                         for (l = 0;l < numoriginalplanes;l++)
228                                 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
229                                         m++;
230                         if (m < 3)
231                                 break;
232                 }
233                 if (k < pnumpoints)
234                 {
235                         Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
236                         //return NULL;
237                 }
238
239                 // check if there are too many polygon vertices for buffer
240                 if (pnumpoints > pmaxpoints)
241                 {
242                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
243                         return NULL;
244                 }
245
246                 // check if there are too many triangle elements for buffer
247                 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
248                 {
249                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
250                         return NULL;
251                 }
252
253                 for (k = 0;k < pnumpoints;k++)
254                 {
255                         float v[3];
256                         // downgrade to float precision before comparing
257                         VectorCopy(&p[w][k*3], v);
258
259                         // check if there is already a matching point (no duplicates)
260                         for (m = 0;m < numpointsbuf;m++)
261                                 if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
262                                         break;
263
264                         // if there is no match, add a new one
265                         if (m == numpointsbuf)
266                         {
267                                 // check if there are too many and skip the brush
268                                 if (numpointsbuf >= maxpointsbuf)
269                                 {
270                                         Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
271                                         return NULL;
272                                 }
273                                 // add the new one
274                                 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
275                                 numpointsbuf++;
276                         }
277
278                         // store the index into a buffer
279                         polypointbuf[k] = m;
280                 }
281
282                 // add the triangles for the polygon
283                 // (this particular code makes a triangle fan)
284                 for (k = 0;k < pnumpoints - 2;k++)
285                 {
286                         elementsbuf[numelementsbuf++] = polypointbuf[0];
287                         elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
288                         elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
289                 }
290         }
291
292         // if nothing is left, there's nothing to allocate
293         if (numplanesbuf < 4)
294         {
295                 Con_DPrintf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
296                 return NULL;
297         }
298
299         // if no triangles or points could be constructed, then this routine failed but the brush is not discarded
300         if (numelementsbuf < 12 || numpointsbuf < 4)
301                 Con_DPrintf("Collision_NewBrushFromPlanes: unable to rebuild triangles/points for collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
302
303         // validate plane distances
304         for (j = 0;j < numplanesbuf;j++)
305         {
306                 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
307                 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
308                         Con_DPrintf("plane %f %f %f %f mismatches dist %f\n", planesbuf[j].normal[0], planesbuf[j].normal[1], planesbuf[j].normal[2], planesbuf[j].dist, d);
309         }
310
311         // allocate the brush and copy to it
312         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
313         brush->supercontents = supercontents;
314         brush->numplanes = numplanesbuf;
315         brush->numpoints = numpointsbuf;
316         brush->numtriangles = numelementsbuf / 3;
317         brush->planes = (colplanef_t *)(brush + 1);
318         brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
319         brush->elements = (int *)(brush->points + brush->numpoints);
320         for (j = 0;j < brush->numpoints;j++)
321         {
322                 brush->points[j].v[0] = pointsbuf[j].v[0];
323                 brush->points[j].v[1] = pointsbuf[j].v[1];
324                 brush->points[j].v[2] = pointsbuf[j].v[2];
325         }
326         for (j = 0;j < brush->numplanes;j++)
327         {
328                 brush->planes[j].normal[0] = planesbuf[j].normal[0];
329                 brush->planes[j].normal[1] = planesbuf[j].normal[1];
330                 brush->planes[j].normal[2] = planesbuf[j].normal[2];
331                 brush->planes[j].dist = planesbuf[j].dist;
332                 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
333                 brush->planes[j].texture = planesbuf[j].texture;
334         }
335         for (j = 0;j < brush->numtriangles * 3;j++)
336                 brush->elements[j] = elementsbuf[j];
337
338         xyzflags = 0;
339         VectorClear(brush->mins);
340         VectorClear(brush->maxs);
341         for (j = 0;j < min(6, numoriginalplanes);j++)
342         {
343                      if (originalplanes[j].normal[0] ==  1) {xyzflags |=  1;brush->maxs[0] =  originalplanes[j].dist;}
344                 else if (originalplanes[j].normal[0] == -1) {xyzflags |=  2;brush->mins[0] = -originalplanes[j].dist;}
345                 else if (originalplanes[j].normal[1] ==  1) {xyzflags |=  4;brush->maxs[1] =  originalplanes[j].dist;}
346                 else if (originalplanes[j].normal[1] == -1) {xyzflags |=  8;brush->mins[1] = -originalplanes[j].dist;}
347                 else if (originalplanes[j].normal[2] ==  1) {xyzflags |= 16;brush->maxs[2] =  originalplanes[j].dist;}
348                 else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
349         }
350         // if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
351         // (this case works for any brush with valid points, but sometimes brushes are not reconstructed properly and hence the points are not valid, so this is reserved as a fallback case)
352         if (xyzflags != 63)
353         {
354                 VectorCopy(brush->points[0].v, brush->mins);
355                 VectorCopy(brush->points[0].v, brush->maxs);
356                 for (j = 1;j < brush->numpoints;j++)
357                 {
358                         brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
359                         brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
360                         brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
361                         brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
362                         brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
363                         brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
364                 }
365         }
366         brush->mins[0] -= 1;
367         brush->mins[1] -= 1;
368         brush->mins[2] -= 1;
369         brush->maxs[0] += 1;
370         brush->maxs[1] += 1;
371         brush->maxs[2] += 1;
372         Collision_ValidateBrush(brush);
373         return brush;
374 }
375
376
377
378 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
379 {
380         int i;
381         float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
382         colpointf_t *p, *p2;
383
384         // FIXME: these probably don't actually need to be normalized if the collision code does not care
385         if (brush->numpoints == 3)
386         {
387                 // optimized triangle case
388                 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
389                 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
390                 {
391                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
392                         brush->numplanes = 0;
393                         return;
394                 }
395                 else
396                 {
397                         brush->numplanes = 5;
398                         VectorNormalize(brush->planes[0].normal);
399                         brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
400                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
401                         brush->planes[1].dist = -brush->planes[0].dist;
402                         VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
403                         VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
404                         VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
405 #if 1
406                         {
407                                 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
408                                 int i, best;
409                                 float dist, bestdist;
410                                 bestdist = fabs(brush->planes[0].normal[0]);
411                                 best = 0;
412                                 for (i = 1;i < 3;i++)
413                                 {
414                                         dist = fabs(brush->planes[0].normal[i]);
415                                         if (bestdist < dist)
416                                         {
417                                                 bestdist = dist;
418                                                 best = i;
419                                         }
420                                 }
421                                 VectorClear(projectionnormal);
422                                 if (brush->planes[0].normal[best] < 0)
423                                         projectionnormal[best] = -1;
424                                 else
425                                         projectionnormal[best] = 1;
426                                 VectorCopy(edge0, projectionedge0);
427                                 VectorCopy(edge1, projectionedge1);
428                                 VectorCopy(edge2, projectionedge2);
429                                 projectionedge0[best] = 0;
430                                 projectionedge1[best] = 0;
431                                 projectionedge2[best] = 0;
432                                 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
433                                 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
434                                 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
435                         }
436 #else
437                         CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
438                         CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
439                         CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
440 #endif
441                         VectorNormalize(brush->planes[2].normal);
442                         VectorNormalize(brush->planes[3].normal);
443                         VectorNormalize(brush->planes[4].normal);
444                         brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
445                         brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
446                         brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
447
448                         if (developer.integer >= 100)
449                         {
450                                 // validation code
451 #if 0
452                                 float temp[3];
453
454                                 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
455                                 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
456                                 CrossProduct(edge0, edge1, normal);
457                                 VectorNormalize(normal);
458                                 VectorSubtract(normal, brush->planes[0].normal, temp);
459                                 if (VectorLength(temp) > 0.01f)
460                                         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]);
461                                 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)
462                                         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);
463 #if 0
464                                 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
465                                         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);
466                                 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
467                                         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);
468                                 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
469                                         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);
470                                 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
471                                         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]);
472                                 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
473                                         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]);
474                                 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
475                                         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]);
476 #endif
477 #endif
478                                 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)
479                                         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);
480                                 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)
481                                         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);
482                                 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)
483                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[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);
484                                 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)
485                                         Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[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);
486                                 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)
487                                         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);
488                         }
489                 }
490         }
491         else
492         {
493                 // choose best surface normal for polygon's plane
494                 bestdist = 0;
495                 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
496                 {
497                         VectorSubtract(p[-1].v, p[0].v, edge0);
498                         VectorSubtract(p[1].v, p[0].v, edge1);
499                         CrossProduct(edge0, edge1, normal);
500                         //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
501                         dist = DotProduct(normal, normal);
502                         if (i == 0 || bestdist < dist)
503                         {
504                                 bestdist = dist;
505                                 VectorCopy(normal, brush->planes->normal);
506                         }
507                 }
508                 if (bestdist < 0.0001f)
509                 {
510                         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
511                         brush->numplanes = 0;
512                         return;
513                 }
514                 else
515                 {
516                         brush->numplanes = brush->numpoints + 2;
517                         VectorNormalize(brush->planes->normal);
518                         brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
519
520                         // negate plane to create other side
521                         VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
522                         brush->planes[1].dist = -brush->planes[0].dist;
523                         for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
524                         {
525                                 VectorSubtract(p->v, p2->v, edge0);
526                                 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
527                                 VectorNormalize(brush->planes[i + 2].normal);
528                                 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
529                         }
530                 }
531         }
532
533         if (developer.integer >= 100)
534         {
535                 // validity check - will be disabled later
536                 Collision_ValidateBrush(brush);
537                 for (i = 0;i < brush->numplanes;i++)
538                 {
539                         int j;
540                         for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
541                                 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
542                                         Con_Printf("Error in brush plane generation, plane %i\n", i);
543                 }
544         }
545 }
546
547 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
548 {
549         colbrushf_t *brush;
550         brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
551         brush->supercontents = supercontents;
552         brush->numpoints = numpoints;
553         brush->numplanes = numpoints + 2;
554         brush->planes = (colplanef_t *)(brush + 1);
555         brush->points = (colpointf_t *)points;
556         Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
557         return brush;
558 }
559
560 // NOTE: start and end of each brush pair must have same numplanes/numpoints
561 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)
562 {
563         int nplane, nplane2, hitq3surfaceflags = 0;
564         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
565         const colplanef_t *startplane, *endplane;
566         texture_t *hittexture = NULL;
567
568         VectorClear(newimpactnormal);
569
570         for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
571         {
572                 nplane2 = nplane;
573                 if (nplane2 >= thatbrush_start->numplanes)
574                 {
575                         nplane2 -= thatbrush_start->numplanes;
576                         startplane = thisbrush_start->planes + nplane2;
577                         endplane = thisbrush_end->planes + nplane2;
578                         if (developer.integer >= 100)
579                         {
580                                 // any brush with degenerate planes is not worth handling
581                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
582                                 {
583                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
584                                         return;
585                                 }
586                                 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
587                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
588                                         Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
589                         }
590                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
591                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
592                 }
593                 else
594                 {
595                         startplane = thatbrush_start->planes + nplane2;
596                         endplane = thatbrush_end->planes + nplane2;
597                         if (developer.integer >= 100)
598                         {
599                                 // any brush with degenerate planes is not worth handling
600                                 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
601                                 {
602                                         Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
603                                         return;
604                                 }
605                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
606                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
607                                         Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
608                         }
609                         d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
610                         d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
611                 }
612                 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
613
614                 if (d1 > d2)
615                 {
616                         // moving into brush
617                         if (d2 > 0)
618                                 return;
619                         if (d1 > 0)
620                         {
621                                 // enter
622                                 imove = 1 / (d1 - d2);
623                                 f = (d1 - collision_enternudge.value) * imove;
624                                 // check if this will reduce the collision time range
625                                 if (enterfrac < f)
626                                 {
627                                         // reduced collision time range
628                                         enterfrac = f;
629                                         // if the collision time range is now empty, no collision
630                                         if (enterfrac > leavefrac)
631                                                 return;
632                                         // if the collision would be further away than the trace's
633                                         // existing collision data, we don't care about this
634                                         // collision
635                                         if (enterfrac > trace->realfraction)
636                                                 return;
637                                         // calculate the nudged fraction and impact normal we'll
638                                         // need if we accept this collision later
639                                         enterfrac2 = f - collision_impactnudge.value * imove;
640                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
641                                         hitq3surfaceflags = startplane->q3surfaceflags;
642                                         hittexture = startplane->texture;
643                                 }
644                         }
645                 }
646                 else
647                 {
648                         // moving out of brush
649                         if (d1 > 0)
650                                 return;
651                         if (d2 > 0)
652                         {
653                                 // leave
654                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
655                                 // check if this will reduce the collision time range
656                                 if (leavefrac > f)
657                                 {
658                                         // reduced collision time range
659                                         leavefrac = f;
660                                         // if the collision time range is now empty, no collision
661                                         if (enterfrac > leavefrac)
662                                                 return;
663                                 }
664                         }
665                 }
666         }
667
668         // at this point we know the trace overlaps the brush because it was not
669         // rejected at any point in the loop above
670
671         // see if the trace started outside the brush or not
672         if (enterfrac > -1)
673         {
674                 // started outside, and overlaps, therefore there is a collision here
675                 // store out the impact information
676                 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
677                 {
678                         trace->hitsupercontents = thatbrush_start->supercontents;
679                         trace->hitq3surfaceflags = hitq3surfaceflags;
680                         trace->hittexture = hittexture;
681                         trace->realfraction = bound(0, enterfrac, 1);
682                         trace->fraction = bound(0, enterfrac2, 1);
683                         if (collision_prefernudgedfraction.integer)
684                                 trace->realfraction = trace->fraction;
685                         VectorCopy(newimpactnormal, trace->plane.normal);
686                 }
687         }
688         else
689         {
690                 // started inside, update startsolid and friends
691                 trace->startsupercontents |= thatbrush_start->supercontents;
692                 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
693                 {
694                         trace->startsolid = true;
695                         if (leavefrac < 1)
696                                 trace->allsolid = true;
697                 }
698         }
699 }
700
701 // NOTE: start and end brush pair must have same numplanes/numpoints
702 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
703 {
704         int nplane, hitq3surfaceflags = 0;
705         float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
706         const colplanef_t *startplane, *endplane;
707         texture_t *hittexture = NULL;
708
709         VectorClear(newimpactnormal);
710
711         for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
712         {
713                 startplane = thatbrush_start->planes + nplane;
714                 endplane = thatbrush_end->planes + nplane;
715                 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
716                 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
717                 if (developer.integer >= 100)
718                 {
719                         // any brush with degenerate planes is not worth handling
720                         if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
721                         {
722                                 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
723                                 return;
724                         }
725                         if (thatbrush_start->numpoints)
726                         {
727                                 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
728                                 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
729                                         Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
730                         }
731                 }
732
733                 if (d1 > d2)
734                 {
735                         // moving into brush
736                         if (d2 > 0)
737                                 return;
738                         if (d1 > 0)
739                         {
740                                 // enter
741                                 imove = 1 / (d1 - d2);
742                                 f = (d1 - collision_enternudge.value) * imove;
743                                 // check if this will reduce the collision time range
744                                 if (enterfrac < f)
745                                 {
746                                         // reduced collision time range
747                                         enterfrac = f;
748                                         // if the collision time range is now empty, no collision
749                                         if (enterfrac > leavefrac)
750                                                 return;
751                                         // if the collision would be further away than the trace's
752                                         // existing collision data, we don't care about this
753                                         // collision
754                                         if (enterfrac > trace->realfraction)
755                                                 return;
756                                         // calculate the nudged fraction and impact normal we'll
757                                         // need if we accept this collision later
758                                         enterfrac2 = f - collision_impactnudge.value * imove;
759                                         VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
760                                         hitq3surfaceflags = startplane->q3surfaceflags;
761                                         hittexture = startplane->texture;
762                                 }
763                         }
764                 }
765                 else
766                 {
767                         // moving out of brush
768                         if (d1 > 0)
769                                 return;
770                         if (d2 > 0)
771                         {
772                                 // leave
773                                 f = (d1 + collision_leavenudge.value) / (d1 - d2);
774                                 // check if this will reduce the collision time range
775                                 if (leavefrac > f)
776                                 {
777                                         // reduced collision time range
778                                         leavefrac = f;
779                                         // if the collision time range is now empty, no collision
780                                         if (enterfrac > leavefrac)
781                                                 return;
782                                 }
783                         }
784                 }
785         }
786
787         // at this point we know the trace overlaps the brush because it was not
788         // rejected at any point in the loop above
789
790         // see if the trace started outside the brush or not
791         if (enterfrac > -1)
792         {
793                 // started outside, and overlaps, therefore there is a collision here
794                 // store out the impact information
795                 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
796                 {
797                         trace->hitsupercontents = thatbrush_start->supercontents;
798                         trace->hitq3surfaceflags = hitq3surfaceflags;
799                         trace->hittexture = hittexture;
800                         trace->realfraction = bound(0, enterfrac, 1);
801                         trace->fraction = bound(0, enterfrac2, 1);
802                         if (collision_prefernudgedfraction.integer)
803                                 trace->realfraction = trace->fraction;
804                         VectorCopy(newimpactnormal, trace->plane.normal);
805                 }
806         }
807         else
808         {
809                 // started inside, update startsolid and friends
810                 trace->startsupercontents |= thatbrush_start->supercontents;
811                 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
812                 {
813                         trace->startsolid = true;
814                         if (leavefrac < 1)
815                                 trace->allsolid = true;
816                 }
817         }
818 }
819
820 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
821 {
822         int nplane;
823         const colplanef_t *plane;
824
825         for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
826                 if (DotProduct(plane->normal, point) > plane->dist)
827                         return;
828
829         trace->startsupercontents |= thatbrush->supercontents;
830         if (trace->hitsupercontentsmask & thatbrush->supercontents)
831         {
832                 trace->startsolid = true;
833                 trace->allsolid = true;
834         }
835 }
836
837 static colpointf_t polyf_points[256];
838 static colplanef_t polyf_planes[256 + 2];
839 static colbrushf_t polyf_brush;
840
841 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
842 {
843         int i;
844         for (i = 0;i < numpoints;i++)
845         {
846                 out[i].v[0] = floor(in[i].v[0] * fractionprecision + 0.5f) * invfractionprecision;
847                 out[i].v[1] = floor(in[i].v[1] * fractionprecision + 0.5f) * invfractionprecision;
848                 out[i].v[2] = floor(in[i].v[2] * fractionprecision + 0.5f) * invfractionprecision;
849         }
850 }
851
852 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
853 {
854         if (numpoints > 256)
855         {
856                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
857                 return;
858         }
859         polyf_brush.numpoints = numpoints;
860         polyf_brush.numplanes = numpoints + 2;
861         //polyf_brush.points = (colpointf_t *)points;
862         polyf_brush.planes = polyf_planes;
863         polyf_brush.supercontents = supercontents;
864         polyf_brush.points = polyf_points;
865         Collision_SnapCopyPoints(polyf_brush.numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
866         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
867         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
868         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
869 }
870
871 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)
872 {
873         int i;
874         polyf_brush.numpoints = 3;
875         polyf_brush.numplanes = 5;
876         polyf_brush.points = polyf_points;
877         polyf_brush.planes = polyf_planes;
878         polyf_brush.supercontents = supercontents;
879         for (i = 0;i < polyf_brush.numplanes;i++)
880         {
881                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
882                 polyf_brush.planes[i].texture = texture;
883         }
884         for (i = 0;i < numtriangles;i++, element3i += 3)
885         {
886                 if (segmentmaxs[0] >= min(vertex3f[element3i[0]*3+0], min(vertex3f[element3i[1]*3+0], vertex3f[element3i[2]*3+0]))
887                  && segmentmins[0] <= max(vertex3f[element3i[0]*3+0], max(vertex3f[element3i[1]*3+0], vertex3f[element3i[2]*3+0]))
888                  && segmentmaxs[1] >= min(vertex3f[element3i[0]*3+1], min(vertex3f[element3i[1]*3+1], vertex3f[element3i[2]*3+1]))
889                  && segmentmins[1] <= max(vertex3f[element3i[0]*3+1], max(vertex3f[element3i[1]*3+1], vertex3f[element3i[2]*3+1]))
890                  && segmentmaxs[2] >= min(vertex3f[element3i[0]*3+2], min(vertex3f[element3i[1]*3+2], vertex3f[element3i[2]*3+2]))
891                  && segmentmins[2] <= max(vertex3f[element3i[0]*3+2], max(vertex3f[element3i[1]*3+2], vertex3f[element3i[2]*3+2])))
892                 {
893                         VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
894                         VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
895                         VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
896                         Collision_SnapCopyPoints(polyf_brush.numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
897                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
898                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
899                         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
900                 }
901         }
902 }
903
904 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
905 {
906         if (numpoints > 256)
907         {
908                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
909                 return;
910         }
911         polyf_brush.numpoints = numpoints;
912         polyf_brush.numplanes = numpoints + 2;
913         //polyf_brush.points = (colpointf_t *)points;
914         polyf_brush.points = polyf_points;
915         Collision_SnapCopyPoints(polyf_brush.numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
916         polyf_brush.planes = polyf_planes;
917         polyf_brush.supercontents = supercontents;
918         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
919         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
920         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
921 }
922
923 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)
924 {
925         int i;
926 #if 1
927         // FIXME: snap vertices?
928         for (i = 0;i < numtriangles;i++, element3i += 3)
929                 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
930 #else
931         polyf_brush.numpoints = 3;
932         polyf_brush.numplanes = 5;
933         polyf_brush.points = polyf_points;
934         polyf_brush.planes = polyf_planes;
935         polyf_brush.supercontents = supercontents;
936         for (i = 0;i < polyf_brush.numplanes;i++)
937         {
938                 polyf_brush.planes[i].supercontents = supercontents;
939                 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
940                 polyf_brush.planes[i].texture = texture;
941         }
942         for (i = 0;i < numtriangles;i++, element3i += 3)
943         {
944                 if (segmentmaxs[0] >= min(vertex3f[element3i[0]*3+0], min(vertex3f[element3i[1]*3+0], vertex3f[element3i[2]*3+0]))
945                  && segmentmins[0] <= max(vertex3f[element3i[0]*3+0], max(vertex3f[element3i[1]*3+0], vertex3f[element3i[2]*3+0]))
946                  && segmentmaxs[1] >= min(vertex3f[element3i[0]*3+1], min(vertex3f[element3i[1]*3+1], vertex3f[element3i[2]*3+1]))
947                  && segmentmins[1] <= max(vertex3f[element3i[0]*3+1], max(vertex3f[element3i[1]*3+1], vertex3f[element3i[2]*3+1]))
948                  && segmentmaxs[2] >= min(vertex3f[element3i[0]*3+2], min(vertex3f[element3i[1]*3+2], vertex3f[element3i[2]*3+2]))
949                  && segmentmins[2] <= max(vertex3f[element3i[0]*3+2], max(vertex3f[element3i[1]*3+2], vertex3f[element3i[2]*3+2])))
950                 {
951                         VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
952                         VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
953                         VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
954                         Collision_SnapCopyPoints(polyf_brush.numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
955                         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
956                         //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
957                         Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
958                 }
959         }
960 #endif
961 }
962
963
964 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
965 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
966 static colbrushf_t polyf_brushstart, polyf_brushend;
967
968 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)
969 {
970         int i;
971         if (numpoints > 256)
972         {
973                 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
974                 return;
975         }
976         polyf_brushstart.numpoints = numpoints;
977         polyf_brushstart.numplanes = numpoints + 2;
978         polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
979         polyf_brushstart.planes = polyf_planesstart;
980         polyf_brushstart.supercontents = supercontents;
981         for (i = 0;i < numpoints;i++)
982                 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
983         polyf_brushend.numpoints = numpoints;
984         polyf_brushend.numplanes = numpoints + 2;
985         polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
986         polyf_brushend.planes = polyf_planesend;
987         polyf_brushend.supercontents = supercontents;
988         for (i = 0;i < numpoints;i++)
989                 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
990         for (i = 0;i < polyf_brushstart.numplanes;i++)
991         {
992                 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
993                 polyf_brushstart.planes[i].texture = texture;
994         }
995         Collision_SnapCopyPoints(polyf_brushstart.numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
996         Collision_SnapCopyPoints(polyf_brushend.numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
997         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
998         Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
999
1000         //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1001         //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1002
1003         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1004 }
1005
1006
1007
1008 #define MAX_BRUSHFORBOX 16
1009 static int brushforbox_index = 0;
1010 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1011 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1012 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1013 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1014
1015 void Collision_InitBrushForBox(void)
1016 {
1017         int i;
1018         for (i = 0;i < MAX_BRUSHFORBOX;i++)
1019         {
1020                 brushforbox_brush[i].numpoints = 8;
1021                 brushforbox_brush[i].numplanes = 6;
1022                 brushforbox_brush[i].points = brushforbox_point + i * 8;
1023                 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1024                 brushforpoint_brush[i].numpoints = 1;
1025                 brushforpoint_brush[i].numplanes = 0;
1026                 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1027                 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1028         }
1029 }
1030
1031 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1032 {
1033         int i, j;
1034         vec3_t v;
1035         colbrushf_t *brush;
1036         if (brushforbox_brush[0].numpoints == 0)
1037                 Collision_InitBrushForBox();
1038         // FIXME: these probably don't actually need to be normalized if the collision code does not care
1039         if (VectorCompare(mins, maxs))
1040         {
1041                 // point brush
1042                 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1043                 VectorCopy(mins, brush->points->v);
1044         }
1045         else
1046         {
1047                 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1048                 // FIXME: optimize
1049                 for (i = 0;i < 8;i++)
1050                 {
1051                         v[0] = i & 1 ? maxs[0] : mins[0];
1052                         v[1] = i & 2 ? maxs[1] : mins[1];
1053                         v[2] = i & 4 ? maxs[2] : mins[2];
1054                         Matrix4x4_Transform(matrix, v, brush->points[i].v);
1055                 }
1056                 // FIXME: optimize!
1057                 for (i = 0;i < 6;i++)
1058                 {
1059                         VectorClear(v);
1060                         v[i >> 1] = i & 1 ? 1 : -1;
1061                         Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1062                         VectorNormalize(brush->planes[i].normal);
1063                 }
1064         }
1065         brush->supercontents = supercontents;
1066         for (j = 0;j < brush->numplanes;j++)
1067         {
1068                 brush->planes[j].q3surfaceflags = q3surfaceflags;
1069                 brush->planes[j].texture = texture;
1070                 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1071         }
1072         VectorCopy(brush->points[0].v, brush->mins);
1073         VectorCopy(brush->points[0].v, brush->maxs);
1074         for (j = 1;j < brush->numpoints;j++)
1075         {
1076                 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1077                 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1078                 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1079                 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1080                 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1081                 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1082         }
1083         brush->mins[0] -= 1;
1084         brush->mins[1] -= 1;
1085         brush->mins[2] -= 1;
1086         brush->maxs[0] += 1;
1087         brush->maxs[1] += 1;
1088         brush->maxs[2] += 1;
1089         Collision_ValidateBrush(brush);
1090         return brush;
1091 }
1092
1093 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)
1094 {
1095         colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1096         vec3_t startmins, startmaxs, endmins, endmaxs;
1097
1098         // create brushes for the collision
1099         VectorAdd(start, mins, startmins);
1100         VectorAdd(start, maxs, startmaxs);
1101         VectorAdd(end, mins, endmins);
1102         VectorAdd(end, maxs, endmaxs);
1103         boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1104         thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1105         thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1106
1107         memset(trace, 0, sizeof(trace_t));
1108         trace->hitsupercontentsmask = hitsupercontentsmask;
1109         trace->fraction = 1;
1110         trace->realfraction = 1;
1111         trace->allsolid = true;
1112         Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1113 }
1114
1115 //pseudocode for detecting line/sphere overlap without calculating an impact point
1116 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1117
1118 // LordHavoc: currently unused, but tested
1119 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1120 // by simply adding the moving sphere's radius to the sphereradius parameter,
1121 // all the results are correct (impactpoint, impactnormal, and fraction)
1122 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1123 {
1124         double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1125         // make sure the impactpoint and impactnormal are valid even if there is
1126         // no collision
1127         VectorCopy(lineend, impactpoint);
1128         VectorClear(impactnormal);
1129         // calculate line direction
1130         VectorSubtract(lineend, linestart, dir);
1131         // normalize direction
1132         linelength = VectorLength(dir);
1133         if (linelength)
1134         {
1135                 scale = 1.0 / linelength;
1136                 VectorScale(dir, scale, dir);
1137         }
1138         // this dotproduct calculates the distance along the line at which the
1139         // sphere origin is (nearest point to the sphere origin on the line)
1140         impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1141         // calculate point on line at that distance, and subtract the
1142         // sphereorigin from it, so we have a vector to measure for the distance
1143         // of the line from the sphereorigin (deviation, how off-center it is)
1144         VectorMA(linestart, impactdist, dir, v);
1145         VectorSubtract(v, sphereorigin, v);
1146         deviationdist = VectorLength2(v);
1147         // if outside the radius, it's a miss for sure
1148         // (we do this comparison using squared radius to avoid a sqrt)
1149         if (deviationdist > sphereradius*sphereradius)
1150                 return 1; // miss (off to the side)
1151         // nudge back to find the correct impact distance
1152         impactdist += deviationdist - sphereradius;
1153         if (impactdist >= linelength)
1154                 return 1; // miss (not close enough)
1155         if (impactdist < 0)
1156                 return 1; // miss (linestart is past or inside sphere)
1157         // calculate new impactpoint
1158         VectorMA(linestart, impactdist, dir, impactpoint);
1159         // calculate impactnormal (surface normal at point of impact)
1160         VectorSubtract(impactpoint, sphereorigin, impactnormal);
1161         // normalize impactnormal
1162         VectorNormalize(impactnormal);
1163         // return fraction of movement distance
1164         return impactdist / linelength;
1165 }
1166
1167 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)
1168 {
1169 #if 1
1170         // more optimized
1171         float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1172
1173         // this function executes:
1174         // 32 ops when line starts behind triangle
1175         // 38 ops when line ends infront of triangle
1176         // 43 ops when line fraction is already closer than this triangle
1177         // 72 ops when line is outside edge 01
1178         // 92 ops when line is outside edge 21
1179         // 115 ops when line is outside edge 02
1180         // 123 ops when line impacts triangle and updates trace results
1181
1182         // this code is designed for clockwise triangles, conversion to
1183         // counterclockwise would require swapping some things around...
1184         // it is easier to simply swap the point0 and point2 parameters to this
1185         // function when calling it than it is to rewire the internals.
1186
1187         // calculate the faceplanenormal of the triangle, this represents the front side
1188         // 15 ops
1189         VectorSubtract(point0, point1, edge01);
1190         VectorSubtract(point2, point1, edge21);
1191         CrossProduct(edge01, edge21, faceplanenormal);
1192         // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1193         // 6 ops
1194         faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1195         if (faceplanenormallength2 < 0.0001f)
1196                 return;
1197         // calculate the distance
1198         // 5 ops
1199         faceplanedist = DotProduct(point0, faceplanenormal);
1200
1201         // if start point is on the back side there is no collision
1202         // (we don't care about traces going through the triangle the wrong way)
1203
1204         // calculate the start distance
1205         // 6 ops
1206         d1 = DotProduct(faceplanenormal, linestart);
1207         if (d1 <= faceplanedist)
1208                 return;
1209
1210         // calculate the end distance
1211         // 6 ops
1212         d2 = DotProduct(faceplanenormal, lineend);
1213         // if both are in front, there is no collision
1214         if (d2 >= faceplanedist)
1215                 return;
1216
1217         // from here on we know d1 is >= 0 and d2 is < 0
1218         // this means the line starts infront and ends behind, passing through it
1219
1220         // calculate the recipricol of the distance delta,
1221         // so we can use it multiple times cheaply (instead of division)
1222         // 2 ops
1223         d = 1.0f / (d1 - d2);
1224         // calculate the impact fraction by taking the start distance (> 0)
1225         // and subtracting the face plane distance (this is the distance of the
1226         // triangle along that same normal)
1227         // then multiply by the recipricol distance delta
1228         // 2 ops
1229         f = (d1 - faceplanedist) * d;
1230         // skip out if this impact is further away than previous ones
1231         // 1 ops
1232         if (f > trace->realfraction)
1233                 return;
1234         // calculate the perfect impact point for classification of insidedness
1235         // 9 ops
1236         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1237         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1238         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1239
1240         // calculate the edge normal and reject if impact is outside triangle
1241         // (an edge normal faces away from the triangle, to get the desired normal
1242         //  a crossproduct with the faceplanenormal is used, and because of the way
1243         // the insidedness comparison is written it does not need to be normalized)
1244
1245         // first use the two edges from the triangle plane math
1246         // the other edge only gets calculated if the point survives that long
1247
1248         // 20 ops
1249         CrossProduct(edge01, faceplanenormal, edgenormal);
1250         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1251                 return;
1252
1253         // 20 ops
1254         CrossProduct(faceplanenormal, edge21, edgenormal);
1255         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1256                 return;
1257
1258         // 23 ops
1259         VectorSubtract(point0, point2, edge02);
1260         CrossProduct(faceplanenormal, edge02, edgenormal);
1261         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1262                 return;
1263
1264         // 8 ops (rare)
1265
1266         // store the new trace fraction
1267         trace->realfraction = f;
1268
1269         // calculate a nudged fraction to keep it out of the surface
1270         // (the main fraction remains perfect)
1271         trace->fraction = f - collision_impactnudge.value * d;
1272
1273         if (collision_prefernudgedfraction.integer)
1274                 trace->realfraction = trace->fraction;
1275
1276         // store the new trace plane (because collisions only happen from
1277         // the front this is always simply the triangle normal, never flipped)
1278         d = 1.0 / sqrt(faceplanenormallength2);
1279         VectorScale(faceplanenormal, d, trace->plane.normal);
1280         trace->plane.dist = faceplanedist * d;
1281
1282         trace->hitsupercontents = supercontents;
1283         trace->hitq3surfaceflags = q3surfaceflags;
1284         trace->hittexture = texture;
1285 #else
1286         float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1287
1288         // this code is designed for clockwise triangles, conversion to
1289         // counterclockwise would require swapping some things around...
1290         // it is easier to simply swap the point0 and point2 parameters to this
1291         // function when calling it than it is to rewire the internals.
1292
1293         // calculate the unnormalized faceplanenormal of the triangle,
1294         // this represents the front side
1295         TriangleNormal(point0, point1, point2, faceplanenormal);
1296         // there's no point in processing a degenerate triangle
1297         // (GIGO - Garbage In, Garbage Out)
1298         if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1299                 return;
1300         // calculate the unnormalized distance
1301         faceplanedist = DotProduct(point0, faceplanenormal);
1302
1303         // calculate the unnormalized start distance
1304         d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1305         // if start point is on the back side there is no collision
1306         // (we don't care about traces going through the triangle the wrong way)
1307         if (d1 <= 0)
1308                 return;
1309
1310         // calculate the unnormalized end distance
1311         d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1312         // if both are in front, there is no collision
1313         if (d2 >= 0)
1314                 return;
1315
1316         // from here on we know d1 is >= 0 and d2 is < 0
1317         // this means the line starts infront and ends behind, passing through it
1318
1319         // calculate the recipricol of the distance delta,
1320         // so we can use it multiple times cheaply (instead of division)
1321         d = 1.0f / (d1 - d2);
1322         // calculate the impact fraction by taking the start distance (> 0)
1323         // and subtracting the face plane distance (this is the distance of the
1324         // triangle along that same normal)
1325         // then multiply by the recipricol distance delta
1326         f = d1 * d;
1327         // skip out if this impact is further away than previous ones
1328         if (f > trace->realfraction)
1329                 return;
1330         // calculate the perfect impact point for classification of insidedness
1331         impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1332         impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1333         impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1334
1335         // calculate the edge normal and reject if impact is outside triangle
1336         // (an edge normal faces away from the triangle, to get the desired normal
1337         //  a crossproduct with the faceplanenormal is used, and because of the way
1338         // the insidedness comparison is written it does not need to be normalized)
1339
1340         VectorSubtract(point2, point0, edge);
1341         CrossProduct(edge, faceplanenormal, edgenormal);
1342         if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1343                 return;
1344
1345         VectorSubtract(point0, point1, edge);
1346         CrossProduct(edge, faceplanenormal, edgenormal);
1347         if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1348                 return;
1349
1350         VectorSubtract(point1, point2, edge);
1351         CrossProduct(edge, faceplanenormal, edgenormal);
1352         if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1353                 return;
1354
1355         // store the new trace fraction
1356         trace->realfraction = bound(0, f, 1);
1357
1358         // store the new trace plane (because collisions only happen from
1359         // the front this is always simply the triangle normal, never flipped)
1360         VectorNormalize(faceplanenormal);
1361         VectorCopy(faceplanenormal, trace->plane.normal);
1362         trace->plane.dist = DotProduct(point0, faceplanenormal);
1363
1364         // calculate the normalized start and end distances
1365         d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1366         d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1367
1368         // calculate a nudged fraction to keep it out of the surface
1369         // (the main fraction remains perfect)
1370         fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1371         trace->fraction = bound(0, fnudged, 1);
1372
1373         // store the new trace endpos
1374         // not needed, it's calculated later when the trace is finished
1375         //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1376         //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1377         //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1378         trace->hitsupercontents = supercontents;
1379         trace->hitq3surfaceflags = q3surfaceflags;
1380         trace->hittexture = texture;
1381 #endif
1382 }
1383
1384 typedef struct colbspnode_s
1385 {
1386         mplane_t plane;
1387         struct colbspnode_s *children[2];
1388         // the node is reallocated or split if max is reached
1389         int numcolbrushf;
1390         int maxcolbrushf;
1391         colbrushf_t **colbrushflist;
1392         //int numcolbrushd;
1393         //int maxcolbrushd;
1394         //colbrushd_t **colbrushdlist;
1395 }
1396 colbspnode_t;
1397
1398 typedef struct colbsp_s
1399 {
1400         mempool_t *mempool;
1401         colbspnode_t *nodes;
1402 }
1403 colbsp_t;
1404
1405 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1406 {
1407         colbsp_t *bsp;
1408         bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1409         bsp->mempool = mempool;
1410         bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1411         return bsp;
1412 }
1413
1414 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1415 {
1416         if (node->children[0])
1417                 Collision_FreeCollisionBSPNode(node->children[0]);
1418         if (node->children[1])
1419                 Collision_FreeCollisionBSPNode(node->children[1]);
1420         while (--node->numcolbrushf)
1421                 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1422         //while (--node->numcolbrushd)
1423         //      Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1424         Mem_Free(node);
1425 }
1426
1427 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1428 {
1429         Collision_FreeCollisionBSPNode(bsp->nodes);
1430         Mem_Free(bsp);
1431 }
1432
1433 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1434 {
1435         int i;
1436         colpointf_t *ps, *pe;
1437         float tempstart[3], tempend[3];
1438         VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1439         VectorCopy(mins, maxs);
1440         for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1441         {
1442                 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1443                 VectorLerp(ps->v, endfrac, pe->v, tempend);
1444                 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1445                 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1446                 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1447                 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1448                 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1449                 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1450         }
1451         mins[0] -= 1;
1452         mins[1] -= 1;
1453         mins[2] -= 1;
1454         maxs[0] += 1;
1455         maxs[1] += 1;
1456         maxs[2] += 1;
1457 }
1458