#include "quakedef.h"
-#include "winding.h"
+#include "polygon.h"
-#define COLLISION_SNAPSCALE (32.0f)
+#define COLLISION_SNAPSCALE (8.0f)
#define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125"};
cvar_t collision_enternudge = {0, "collision_enternudge", "0"};
cvar_t collision_leavenudge = {0, "collision_leavenudge", "0"};
-#if 0
-typedef struct
-{
- // the hull we're tracing through
- const hull_t *hull;
-
- // the trace structure to fill in
- trace_t *trace;
-
- // start and end of the trace (in model space)
- double start[3];
- double end[3];
-
- // end - start
- double dist[3];
-
- // overrides the CONTENTS_SOLID in the box bsp tree
- int boxsupercontents;
-}
-RecursiveHullCheckTraceInfo_t;
-
-#define HULLCHECKSTATE_EMPTY 0
-#define HULLCHECKSTATE_SOLID 1
-#define HULLCHECKSTATE_DONE 2
-
-static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
-{
- // status variables, these don't need to be saved on the stack when
- // recursing... but are because this should be thread-safe
- // (note: tracing against a bbox is not thread-safe, yet)
- int ret;
- mplane_t *plane;
- double t1, t2;
-
- // variables that need to be stored on the stack when recursing
- dclipnode_t *node;
- int side;
- double midf, mid[3];
-
- // LordHavoc: a goto! everyone flee in terror... :)
-loc0:
- // check for empty
- if (num < 0)
- {
- num = Mod_Q1BSP_SuperContentsFromNativeContents(NULL, num);
- if (!t->trace->startfound)
- {
- t->trace->startfound = true;
- t->trace->startsupercontents |= num;
- }
- if (num & SUPERCONTENTS_LIQUIDSMASK)
- t->trace->inwater = true;
- if (num == 0)
- t->trace->inopen = true;
- if (num & t->trace->hitsupercontentsmask)
- {
- // if the first leaf is solid, set startsolid
- if (t->trace->allsolid)
- t->trace->startsolid = true;
-#if COLLISIONPARANOID >= 3
- Con_Print("S");
-#endif
- return HULLCHECKSTATE_SOLID;
- }
- else
- {
- t->trace->allsolid = false;
-#if COLLISIONPARANOID >= 3
- Con_Print("E");
-#endif
- return HULLCHECKSTATE_EMPTY;
- }
- }
-
- // find the point distances
- node = t->hull->clipnodes + num;
-
- plane = t->hull->planes + node->planenum;
- if (plane->type < 3)
- {
- t1 = p1[plane->type] - plane->dist;
- t2 = p2[plane->type] - plane->dist;
- }
- else
- {
- t1 = DotProduct (plane->normal, p1) - plane->dist;
- t2 = DotProduct (plane->normal, p2) - plane->dist;
- }
-
- if (t1 < 0)
- {
- if (t2 < 0)
- {
-#if COLLISIONPARANOID >= 3
- Con_Print("<");
-#endif
- num = node->children[1];
- goto loc0;
- }
- side = 1;
- }
- else
- {
- if (t2 >= 0)
- {
-#if COLLISIONPARANOID >= 3
- Con_Print(">");
-#endif
- num = node->children[0];
- goto loc0;
- }
- side = 0;
- }
-
- // the line intersects, find intersection point
- // LordHavoc: this uses the original trace for maximum accuracy
-#if COLLISIONPARANOID >= 3
- Con_Print("M");
-#endif
- if (plane->type < 3)
- {
- t1 = t->start[plane->type] - plane->dist;
- t2 = t->end[plane->type] - plane->dist;
- }
- else
- {
- t1 = DotProduct (plane->normal, t->start) - plane->dist;
- t2 = DotProduct (plane->normal, t->end) - plane->dist;
- }
-
- midf = t1 / (t1 - t2);
- midf = bound(p1f, midf, p2f);
- VectorMA(t->start, midf, t->dist, mid);
-
- // recurse both sides, front side first
- ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
- // if this side is not empty, return what it is (solid or done)
- if (ret != HULLCHECKSTATE_EMPTY)
- return ret;
-
- ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
- // if other side is not solid, return what it is (empty or done)
- if (ret != HULLCHECKSTATE_SOLID)
- return ret;
-
- // front is air and back is solid, this is the impact point...
- if (side)
- {
- t->trace->plane.dist = -plane->dist;
- VectorNegate (plane->normal, t->trace->plane.normal);
- }
- else
- {
- t->trace->plane.dist = plane->dist;
- VectorCopy (plane->normal, t->trace->plane.normal);
- }
-
- // calculate the true fraction
- t1 = DotProduct(t->trace->plane.normal, t->start) - t->trace->plane.dist - collision_startnudge.value;
- t2 = DotProduct(t->trace->plane.normal, t->end) - t->trace->plane.dist - collision_endnudge.value;
- midf = t1 / (t1 - t2);
- t->trace->realfraction = bound(0, midf, 1);
-
- // calculate the return fraction which is nudged off the surface a bit
- midf = (t1 - collision_impactnudge.value) / (t1 - t2);
- t->trace->fraction = bound(0, midf, 1);
-
-#if COLLISIONPARANOID >= 3
- Con_Print("D");
-#endif
- return HULLCHECKSTATE_DONE;
-}
-
-#if 0
-// used if start and end are the same
-static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
-{
- // If you can read this, you understand BSP trees
- while (num >= 0)
- num = t->hull->clipnodes[num].children[((t->hull->planes[t->hull->clipnodes[num].planenum].type < 3) ? (t->start[t->hull->planes[t->hull->clipnodes[num].planenum].type]) : (DotProduct(t->hull->planes[t->hull->clipnodes[num].planenum].normal, t->start))) < t->hull->planes[t->hull->clipnodes[num].planenum].dist];
-
- // check for empty
- t->trace->endcontents = num;
- if (t->trace->thiscontents)
- {
- if (num == t->trace->thiscontents)
- t->trace->allsolid = false;
- else
- {
- // if the first leaf is solid, set startsolid
- if (t->trace->allsolid)
- t->trace->startsolid = true;
- }
- }
- else
- {
- if (num != CONTENTS_SOLID)
- {
- t->trace->allsolid = false;
- if (num == CONTENTS_EMPTY)
- t->trace->inopen = true;
- else
- t->trace->inwater = true;
- }
- else
- {
- // if the first leaf is solid, set startsolid
- if (t->trace->allsolid)
- t->trace->startsolid = true;
- }
- }
-}
-#endif
-
-static hull_t box_hull;
-static dclipnode_t box_clipnodes[6];
-static mplane_t box_planes[6];
-
-void Mod_Q1BSP_Collision_Init (void)
-{
- int i;
- int side;
-
- //Set up the planes and clipnodes so that the six floats of a bounding box
- //can just be stored out and get a proper hull_t structure.
-
- box_hull.clipnodes = box_clipnodes;
- box_hull.planes = box_planes;
- box_hull.firstclipnode = 0;
- box_hull.lastclipnode = 5;
-
- for (i = 0;i < 6;i++)
- {
- box_clipnodes[i].planenum = i;
-
- side = i&1;
-
- box_clipnodes[i].children[side] = CONTENTS_EMPTY;
- if (i != 5)
- box_clipnodes[i].children[side^1] = i + 1;
- else
- box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
-
- box_planes[i].type = i>>1;
- box_planes[i].normal[i>>1] = 1;
- }
-}
-
-void Collision_ClipTrace_Box(trace_t *trace, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask, int boxsupercontents)
-{
- RecursiveHullCheckTraceInfo_t rhc;
- // fill in a default trace
- memset(&rhc, 0, sizeof(rhc));
- memset(trace, 0, sizeof(trace_t));
- //To keep everything totally uniform, bounding boxes are turned into small
- //BSP trees instead of being compared directly.
- // create a temp hull from bounding box sizes
- box_planes[0].dist = cmaxs[0] - mins[0];
- box_planes[1].dist = cmins[0] - maxs[0];
- box_planes[2].dist = cmaxs[1] - mins[1];
- box_planes[3].dist = cmins[1] - maxs[1];
- box_planes[4].dist = cmaxs[2] - mins[2];
- box_planes[5].dist = cmins[2] - maxs[2];
- // trace a line through the generated clipping hull
- rhc.boxsupercontents = boxsupercontents;
- rhc.hull = &box_hull;
- rhc.trace = trace;
- rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
- rhc.trace->fraction = 1;
- rhc.trace->realfraction = 1;
- rhc.trace->allsolid = true;
- VectorCopy(start, rhc.start);
- VectorCopy(end, rhc.end);
- VectorSubtract(rhc.end, rhc.start, rhc.dist);
- Mod_Q1BSP_RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
- VectorMA(rhc.start, rhc.trace->fraction, rhc.dist, rhc.trace->endpos);
- if (rhc.trace->startsupercontents)
- rhc.trace->startsupercontents = boxsupercontents;
-}
-#endif
-
void Collision_Init (void)
{
Cvar_RegisterVariable(&collision_impactnudge);
void Collision_ValidateBrush(colbrushf_t *brush)
{
- int j, k, pointsoffplanes, printbrush;
+ int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
float d;
printbrush = false;
if (!brush->numpoints)
if (brush->numplanes)
{
pointsoffplanes = 0;
+ pointswithinsufficientplanes = 0;
for (k = 0;k < brush->numplanes;k++)
- {
if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
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);
- for (j = 0;j < brush->numpoints;j++)
+ for (j = 0;j < brush->numpoints;j++)
+ {
+ pointonplanes = 0;
+ for (k = 0;k < brush->numplanes;k++)
{
d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
if (d > (1.0f / 8.0f))
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);
printbrush = true;
}
- if (fabs(d) > 0.01f)
+ if (fabs(d) > 0.125f)
pointsoffplanes++;
+ else
+ pointonplanes++;
}
+ if (pointonplanes < 3)
+ pointswithinsufficientplanes++;
+ }
+ if (pointswithinsufficientplanes)
+ {
+ Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
+ printbrush = true;
}
if (pointsoffplanes == 0) // all points are on all planes
{
}
-colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents, winding_t *temp1, winding_t *temp2)
+colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents)
{
- int j, k, m;
- int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
- winding_t *w, *temp, *othertemp;
+ int j, k, m, w;
+ int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
colbrushf_t *brush;
colpointf_t pointsbuf[256];
colplanef_t planesbuf[256];
int elementsbuf[1024];
int polypointbuf[256];
+ int pmaxpoints = 64;
+ int pnumpoints;
+ double p[2][3*64];
+#if 0
+ // enable these if debugging to avoid seeing garbage in unused data
+ memset(pointsbuf, 0, sizeof(pointsbuf));
+ memset(planesbuf, 0, sizeof(planesbuf));
+ memset(elementsbuf, 0, sizeof(elementsbuf));
+ memset(polypointbuf, 0, sizeof(polypointbuf));
+ memset(p, 0, sizeof(p));
+#endif
// construct a collision brush (points, planes, and renderable mesh) from
// a set of planes, this also optimizes out any unnecessary planes (ones
// whose polygon is clipped away by the other planes)
- numpoints = 0;maxpoints = 256;
- numplanes = 0;maxplanes = 256;
- numelements = 0;maxelements = 1024;
- numtriangles = 0;
- maxpolypoints = 256;
for (j = 0;j < numoriginalplanes;j++)
{
// add the plane uniquely (no duplicates)
- for (k = 0;k < numplanes;k++)
+ for (k = 0;k < numplanesbuf;k++)
if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
break;
// if the plane is a duplicate, skip it
- if (k < numplanes)
+ if (k < numplanesbuf)
continue;
// check if there are too many and skip the brush
- if (numplanes >= 256)
+ if (numplanesbuf >= maxplanesbuf)
{
- Con_Print("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
+ Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
return NULL;
}
// create a large polygon from the plane
- w = temp1;
- othertemp = temp2;
- BufWinding_NewFromPlane(w, originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
+ w = 0;
+ PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, 1024.0*1024.0*1024.0);
+ pnumpoints = 4;
// clip it by all other planes
- for (k = 0;k < numoriginalplanes && w->numpoints;k++)
+ for (k = 0;k < numoriginalplanes && pnumpoints && pnumpoints <= pmaxpoints;k++)
{
if (k != j)
{
// we want to keep the inside of the brush plane so we flip
// the cutting plane
- BufWinding_Divide(w, -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, othertemp, NULL, NULL, NULL);
- temp = w;
- w = othertemp;
- othertemp = temp;
+ PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, 1.0/32.0, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL);
+ w = !w;
}
}
// if nothing is left, skip it
- if (!w->numpoints)
+ if (pnumpoints < 3)
+ {
+ //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);
continue;
+ }
- // copy off the number of points for later when the winding is freed
- numpolypoints = w->numpoints;
+ for (k = 0;k < pnumpoints;k++)
+ {
+ int l, m;
+ m = 0;
+ for (l = 0;l < numoriginalplanes;l++)
+ if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < 1.0/8.0)
+ m++;
+ if (m < 3)
+ break;
+ }
+ if (k < pnumpoints)
+ {
+ Con_Printf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
+ //return NULL;
+ }
// check if there are too many polygon vertices for buffer
- if (numpolypoints > maxpolypoints)
+ if (pnumpoints > pmaxpoints)
{
Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
return NULL;
}
// check if there are too many triangle elements for buffer
- if (numelements + (w->numpoints - 2) * 3 > maxelements)
+ if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
{
Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
return NULL;
}
- for (k = 0;k < w->numpoints;k++)
+ for (k = 0;k < pnumpoints;k++)
{
// check if there is already a matching point (no duplicates)
- for (m = 0;m < numpoints;m++)
- if (VectorDistance2(w->points[k], pointsbuf[m].v) < COLLISION_SNAP)
+ for (m = 0;m < numpointsbuf;m++)
+ if (VectorDistance2(&p[w][k*3], pointsbuf[m].v) < COLLISION_SNAP)
break;
// if there is no match, add a new one
- if (m == numpoints)
+ if (m == numpointsbuf)
{
// check if there are too many and skip the brush
- if (numpoints >= 256)
+ if (numpointsbuf >= maxpointsbuf)
{
Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
- Winding_Free(w);
return NULL;
}
// add the new one
- VectorCopy(w->points[k], pointsbuf[numpoints].v);
- numpoints++;
+ VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
+ numpointsbuf++;
}
// store the index into a buffer
polypointbuf[k] = m;
}
- w = NULL;
- othertemp = NULL;
- temp = NULL;
// add the triangles for the polygon
// (this particular code makes a triangle fan)
- for (k = 0;k < numpolypoints - 2;k++)
+ for (k = 0;k < pnumpoints - 2;k++)
{
- numtriangles++;
- elementsbuf[numelements++] = polypointbuf[0];
- elementsbuf[numelements++] = polypointbuf[k + 1];
- elementsbuf[numelements++] = polypointbuf[k + 2];
+ elementsbuf[numelementsbuf++] = polypointbuf[0];
+ elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
+ elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
}
// add the new plane
- VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
- planesbuf[numplanes].dist = originalplanes[j].dist;
- numplanes++;
+ VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
+ planesbuf[numplanesbuf].dist = originalplanes[j].dist;
+ numplanesbuf++;
+ }
+
+ // validate plane distances
+ for (j = 0;j < numplanesbuf;j++)
+ {
+ float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
+ if (fabs(planesbuf[j].dist - d) > (1.0f/32.0f))
+ 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);
}
// if nothing is left, there's nothing to allocate
- if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
+ if (numelementsbuf < 12 || numplanesbuf < 4 || numpointsbuf < 4)
+ {
+ 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);
return NULL;
+ }
// allocate the brush and copy to it
- brush = Collision_AllocBrushFloat(mempool, numpoints, numplanes, numtriangles, supercontents);
- memcpy(brush->points, pointsbuf, numpoints * sizeof(colpointf_t));
- memcpy(brush->planes, planesbuf, numplanes * sizeof(colplanef_t));
- memcpy(brush->elements, elementsbuf, numtriangles * sizeof(int[3]));
- // recalc distances
+ brush = Collision_AllocBrushFloat(mempool, numpointsbuf, numplanesbuf, numelementsbuf / 3, supercontents);
+ for (j = 0;j < brush->numpoints;j++)
+ {
+ brush->points[j].v[0] = pointsbuf[j].v[0];
+ brush->points[j].v[1] = pointsbuf[j].v[1];
+ brush->points[j].v[2] = pointsbuf[j].v[2];
+ }
for (j = 0;j < brush->numplanes;j++)
- brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
+ {
+ brush->planes[j].normal[0] = planesbuf[j].normal[0];
+ brush->planes[j].normal[1] = planesbuf[j].normal[1];
+ brush->planes[j].normal[2] = planesbuf[j].normal[2];
+ brush->planes[j].dist = planesbuf[j].dist;
+ }
+ for (j = 0;j < brush->numtriangles * 3;j++)
+ brush->elements[j] = elementsbuf[j];
VectorCopy(brush->points[0].v, brush->mins);
VectorCopy(brush->points[0].v, brush->maxs);
for (j = 1;j < brush->numpoints;j++)
colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
{
colbrushf_t *brush;
- brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
+ brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
brush->supercontents = supercontents;
brush->numplanes = numplanes;
brush->numpoints = numpoints;
brush->numtriangles = numtriangles;
- brush->planes = (void *)(brush + 1);
- brush->points = (void *)(brush->planes + brush->numplanes);
- brush->elements = (void *)(brush->points + brush->numpoints);
+ brush->planes = (colplanef_t *)(brush + 1);
+ brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
+ brush->elements = (int *)(brush->points + brush->numpoints);
return brush;
}
void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
{
int i;
- float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
+ float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
colpointf_t *p, *p2;
+ // FIXME: these probably don't actually need to be normalized if the collision code does not care
if (brush->numpoints == 3)
{
// optimized triangle case
{
// validation code
#if 0
+ float temp[3];
+
VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
CrossProduct(edge0, edge1, normal);
colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
{
colbrushf_t *brush;
- brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
+ brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
brush->supercontents = supercontents;
brush->numpoints = numpoints;
brush->numplanes = numpoints + 2;
- brush->planes = (void *)(brush + 1);
+ brush->planes = (colplanef_t *)(brush + 1);
brush->points = (colpointf_t *)points;
- Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
+ Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
return brush;
}
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)
{
int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
- float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
+ float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
const colplanef_t *startplane, *endplane;
+ VectorClear(newimpactnormal);
enterfrac = -1;
enterfrac2 = -1;
leavefrac = 1;
return;
}
f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
- if (fabs(f - startplane->dist) > 0.01f)
+ if (fabs(f - startplane->dist) > 0.125f)
Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
}
d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
return;
}
f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
- if (fabs(f - startplane->dist) > 0.01f)
+ if (fabs(f - startplane->dist) > 0.125f)
Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
}
d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
}
//Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
- move = d1 - d2;
- if (move > 0)
+ if(d1 > d2)
{
// moving into brush
- if (d2 > collision_enternudge.value)
+ if(d2 > 0)
return;
- if (d1 < 0)
- continue;
- // enter
- fstartsolid = false;
- imove = 1 / move;
- f = (d1 - collision_enternudge.value) * imove;
- f = bound(0, f, 1);
- if (enterfrac < f)
+ if(d1 > 0)
{
- enterfrac = f;
- enterfrac2 = f - collision_impactnudge.value * imove;
- enterfrac2 = bound(0, enterfrac2, 1);
- VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ // enter
+ fstartsolid = false;
+ imove = 1 / (d1 - d2);
+ f = (d1 - collision_enternudge.value) * imove;
+ if (enterfrac < f)
+ {
+ enterfrac = f;
+ enterfrac2 = f - collision_impactnudge.value * imove;
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ }
}
}
- else if (move < 0)
- {
- // moving out of brush
- if (d1 > collision_leavenudge.value)
- return;
- if (d2 < 0)
- continue;
- // leave
- fendsolid = false;
- f = (d1 + collision_leavenudge.value) / move;
- f = bound(0, f, 1);
- if (leavefrac > f)
- leavefrac = f;
- }
else
{
- // sliding along plane
- if (d1 > 0)
+ // moving out of brush
+ if(d1 > 0)
return;
+ if(d2 > 0)
+ {
+ // leave
+ fendsolid = false;
+ f = (d1 + collision_leavenudge.value) / (d1 - d2);
+ if (leavefrac > f)
+ leavefrac = f;
+ }
}
}
void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
{
int nplane, fstartsolid, fendsolid, brushsolid;
- float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
+ float enterfrac, leavefrac, d1, d2, f, imove, newimpactnormal[3], enterfrac2;
const colplanef_t *startplane, *endplane;
+ VectorClear(newimpactnormal);
enterfrac = -1;
enterfrac2 = -1;
leavefrac = 1;
if (thatbrush_start->numpoints)
{
f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
- if (fabs(f - startplane->dist) > 0.01f)
+ if (fabs(f - startplane->dist) > 0.125f)
Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
}
}
- move = d1 - d2;
- if (move > 0)
+ if (d1 > d2)
{
// moving into brush
- if (d2 >= 0)
+ if (d2 > 0)
return;
- if (d1 <= 0)
- continue;
- // enter
- fstartsolid = false;
- imove = 1 / move;
- f = (d1 - collision_enternudge.value) * imove;
- if (enterfrac < f)
+ if (d1 > 0)
{
- enterfrac = f;
- enterfrac2 = f - collision_impactnudge.value * imove;
- VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ // enter
+ fstartsolid = false;
+ imove = 1 / (d1 - d2);
+ f = (d1 - collision_enternudge.value) * imove;
+ if (enterfrac < f)
+ {
+ enterfrac = f;
+ enterfrac2 = f - collision_impactnudge.value * imove;
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ }
}
}
else
{
// moving out of brush
- if (d1 >= 0)
+ if (d1 > 0)
return;
- if (d2 <= 0)
- continue;
- // leave
- fendsolid = false;
- f = (d1 - collision_leavenudge.value) / move;
- if (leavefrac > f)
- leavefrac = f;
+ if (d2 > 0)
+ {
+ // leave
+ fendsolid = false;
+ f = (d1 + collision_leavenudge.value) / (d1 - d2);
+ if (leavefrac > f)
+ leavefrac = f;
+ }
}
}
colbrushf_t *brush;
if (brushforbox_brush[0].numpoints == 0)
Collision_InitBrushForBox();
+ // FIXME: these probably don't actually need to be normalized if the collision code does not care
if (VectorCompare(mins, maxs))
{
// point brush
Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
}
-// LordHavoc: currently unused and not yet tested
+//pseudocode for detecting line/sphere overlap without calculating an impact point
+//linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
+
+// LordHavoc: currently unused, but tested
// note: this can be used for tracing a moving sphere vs a stationary sphere,
// by simply adding the moving sphere's radius to the sphereradius parameter,
// all the results are correct (impactpoint, impactnormal, and fraction)
double dir[3], scale, v[3], deviationdist, impactdist, linelength;
// make sure the impactpoint and impactnormal are valid even if there is
// no collision
- impactpoint[0] = lineend[0];
- impactpoint[1] = lineend[1];
- impactpoint[2] = lineend[2];
- impactnormal[0] = 0;
- impactnormal[1] = 0;
- impactnormal[2] = 0;
+ VectorCopy(lineend, impactpoint);
+ VectorClear(impactnormal);
// calculate line direction
- dir[0] = lineend[0] - linestart[0];
- dir[1] = lineend[1] - linestart[1];
- dir[2] = lineend[2] - linestart[2];
+ VectorSubtract(lineend, linestart, dir);
// normalize direction
- linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
+ linelength = VectorLength(dir);
if (linelength)
{
scale = 1.0 / linelength;
- dir[0] *= scale;
- dir[1] *= scale;
- dir[2] *= scale;
+ VectorScale(dir, scale, dir);
}
// this dotproduct calculates the distance along the line at which the
// sphere origin is (nearest point to the sphere origin on the line)
- impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
+ impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
// calculate point on line at that distance, and subtract the
// sphereorigin from it, so we have a vector to measure for the distance
// of the line from the sphereorigin (deviation, how off-center it is)
- v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
- v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
- v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
- deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
+ VectorMA(linestart, impactdist, dir, v);
+ VectorSubtract(v, sphereorigin, v);
+ deviationdist = VectorLength2(v);
// if outside the radius, it's a miss for sure
// (we do this comparison using squared radius to avoid a sqrt)
if (deviationdist > sphereradius*sphereradius)
return 1; // miss (off to the side)
// nudge back to find the correct impact distance
- impactdist += (sqrt(deviationdist) - sphereradius);
+ impactdist += deviationdist - sphereradius;
if (impactdist >= linelength)
return 1; // miss (not close enough)
if (impactdist < 0)
return 1; // miss (linestart is past or inside sphere)
// calculate new impactpoint
- impactpoint[0] = linestart[0] + impactdist * dir[0];
- impactpoint[1] = linestart[1] + impactdist * dir[1];
- impactpoint[2] = linestart[2] + impactdist * dir[2];
+ VectorMA(linestart, impactdist, dir, impactpoint);
// calculate impactnormal (surface normal at point of impact)
- impactnormal[0] = impactpoint[0] - sphereorigin[0];
- impactnormal[1] = impactpoint[1] - sphereorigin[1];
- impactnormal[2] = impactpoint[2] - sphereorigin[2];
+ VectorSubtract(impactpoint, sphereorigin, impactnormal);
// normalize impactnormal
- scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
- if (scale)
- {
- scale = 1.0 / sqrt(scale);
- impactnormal[0] *= scale;
- impactnormal[1] *= scale;
- impactnormal[2] *= scale;
- }
+ VectorNormalize(impactnormal);
// return fraction of movement distance
return impactdist / linelength;
}
void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2)
{
- float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
+#if 1
+ // more optimized
+ float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
+
+ // this function executes:
+ // 32 ops when line starts behind triangle
+ // 38 ops when line ends infront of triangle
+ // 43 ops when line fraction is already closer than this triangle
+ // 72 ops when line is outside edge 01
+ // 92 ops when line is outside edge 21
+ // 115 ops when line is outside edge 02
+ // 123 ops when line impacts triangle and updates trace results
// this code is designed for clockwise triangles, conversion to
// counterclockwise would require swapping some things around...
// function when calling it than it is to rewire the internals.
// calculate the faceplanenormal of the triangle, this represents the front side
- TriangleNormal(point0, point1, point2, faceplanenormal);
+ // 15 ops
+ VectorSubtract(point0, point1, edge01);
+ VectorSubtract(point2, point1, edge21);
+ CrossProduct(edge01, edge21, faceplanenormal);
// there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
- if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
+ // 6 ops
+ faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
+ if (faceplanenormallength2 < 0.0001f)
return;
- // normalize the normal
- VectorNormalize(faceplanenormal);
// calculate the distance
+ // 5 ops
faceplanedist = DotProduct(point0, faceplanenormal);
+ // if start point is on the back side there is no collision
+ // (we don't care about traces going through the triangle the wrong way)
+
// calculate the start distance
+ // 6 ops
+ d1 = DotProduct(faceplanenormal, linestart);
+ if (d1 <= faceplanedist)
+ return;
+
+ // calculate the end distance
+ // 6 ops
+ d2 = DotProduct(faceplanenormal, lineend);
+ // if both are in front, there is no collision
+ if (d2 >= faceplanedist)
+ return;
+
+ // from here on we know d1 is >= 0 and d2 is < 0
+ // this means the line starts infront and ends behind, passing through it
+
+ // calculate the recipricol of the distance delta,
+ // so we can use it multiple times cheaply (instead of division)
+ // 2 ops
+ d = 1.0f / (d1 - d2);
+ // calculate the impact fraction by taking the start distance (> 0)
+ // and subtracting the face plane distance (this is the distance of the
+ // triangle along that same normal)
+ // then multiply by the recipricol distance delta
+ // 2 ops
+ f = (d1 - faceplanedist) * d;
+ // skip out if this impact is further away than previous ones
+ // 1 ops
+ if (f > trace->realfraction)
+ return;
+ // calculate the perfect impact point for classification of insidedness
+ // 9 ops
+ impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
+ impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
+ impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
+
+ // calculate the edge normal and reject if impact is outside triangle
+ // (an edge normal faces away from the triangle, to get the desired normal
+ // a crossproduct with the faceplanenormal is used, and because of the way
+ // the insidedness comparison is written it does not need to be normalized)
+
+ // first use the two edges from the triangle plane math
+ // the other edge only gets calculated if the point survives that long
+
+ // 20 ops
+ CrossProduct(edge01, faceplanenormal, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
+ return;
+
+ // 20 ops
+ CrossProduct(faceplanenormal, edge21, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
+ return;
+
+ // 23 ops
+ VectorSubtract(point0, point2, edge02);
+ CrossProduct(faceplanenormal, edge02, edgenormal);
+ if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
+ return;
+
+ // 8 ops (rare)
+
+ // store the new trace fraction
+ trace->realfraction = f;
+
+ // calculate a nudged fraction to keep it out of the surface
+ // (the main fraction remains perfect)
+ trace->fraction = f - collision_impactnudge.value * d;
+
+ // store the new trace plane (because collisions only happen from
+ // the front this is always simply the triangle normal, never flipped)
+ d = 1.0 / sqrt(faceplanenormallength2);
+ VectorScale(faceplanenormal, d, trace->plane.normal);
+ trace->plane.dist = faceplanedist * d;
+#else
+ float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
+
+ // this code is designed for clockwise triangles, conversion to
+ // counterclockwise would require swapping some things around...
+ // it is easier to simply swap the point0 and point2 parameters to this
+ // function when calling it than it is to rewire the internals.
+
+ // calculate the unnormalized faceplanenormal of the triangle,
+ // this represents the front side
+ TriangleNormal(point0, point1, point2, faceplanenormal);
+ // there's no point in processing a degenerate triangle
+ // (GIGO - Garbage In, Garbage Out)
+ if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
+ return;
+ // calculate the unnormalized distance
+ faceplanedist = DotProduct(point0, faceplanenormal);
+
+ // calculate the unnormalized start distance
d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
// if start point is on the back side there is no collision
// (we don't care about traces going through the triangle the wrong way)
- if (d1 < 0)
+ if (d1 <= 0)
return;
- // calculate the end distance
+ // calculate the unnormalized end distance
d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
// if both are in front, there is no collision
if (d2 >= 0)
// (an edge normal faces away from the triangle, to get the desired normal
// a crossproduct with the faceplanenormal is used, and because of the way
// the insidedness comparison is written it does not need to be normalized)
-
+
VectorSubtract(point2, point0, edge);
CrossProduct(edge, faceplanenormal, edgenormal);
if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
// store the new trace fraction
trace->realfraction = bound(0, f, 1);
+ // store the new trace plane (because collisions only happen from
+ // the front this is always simply the triangle normal, never flipped)
+ VectorNormalize(faceplanenormal);
+ VectorCopy(faceplanenormal, trace->plane.normal);
+ trace->plane.dist = DotProduct(point0, faceplanenormal);
+
+ // calculate the normalized start and end distances
+ d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
+ d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
+
// calculate a nudged fraction to keep it out of the surface
// (the main fraction remains perfect)
- fnudged = (d1 - collision_impactnudge.value) * d;
+ fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
trace->fraction = bound(0, fnudged, 1);
// store the new trace endpos
//trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
//trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
//trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
-
- // store the new trace plane (because collisions only happen from
- // the front this is always simply the triangle normal, never flipped)
- VectorCopy(faceplanenormal, trace->plane.normal);
- trace->plane.dist = faceplanedist;
+#endif
}
typedef struct colbspnode_s
colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
{
colbsp_t *bsp;
- bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
+ bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
bsp->mempool = mempool;
- bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
+ bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
return bsp;
}
projects / xonotic / darkplaces.git / blobdiff