#include "quakedef.h"
+#include "winding.h"
+// 1/32 epsilon to keep floating point happy
+#define DIST_EPSILON (0.03125)
+
+#if 0
typedef struct
{
// the hull we're tracing through
// end - start
double dist[3];
+
+ // overrides the CONTENTS_SOLID in the box bsp tree
+ int boxsupercontents;
}
RecursiveHullCheckTraceInfo_t;
-// 1/32 epsilon to keep floating point happy
-#define DIST_EPSILON (0.03125)
-
#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])
+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
// check for empty
if (num < 0)
{
- t->trace->endcontents = num;
- if (t->trace->startcontents)
+ num = Mod_Q1BSP_SuperContentsFromNativeContents(NULL, num);
+ if (!t->trace->startfound)
{
- if (num == t->trace->startcontents)
- t->trace->allsolid = false;
- else
- {
- // if the first leaf is solid, set startsolid
- if (t->trace->allsolid)
- t->trace->startsolid = true;
- return HULLCHECKSTATE_SOLID;
- }
- return HULLCHECKSTATE_EMPTY;
+ 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_Printf("S");
+#endif
+ return HULLCHECKSTATE_SOLID;
}
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;
- return HULLCHECKSTATE_SOLID;
- }
+ t->trace->allsolid = false;
+#if COLLISIONPARANOID >= 3
+ Con_Printf("E");
+#endif
return HULLCHECKSTATE_EMPTY;
}
}
{
if (t2 < 0)
{
+#if COLLISIONPARANOID >= 3
+ Con_Printf("<");
+#endif
num = node->children[1];
goto loc0;
}
{
if (t2 >= 0)
{
+#if COLLISIONPARANOID >= 3
+ Con_Printf(">");
+#endif
num = node->children[0];
goto loc0;
}
// the line intersects, find intersection point
// LordHavoc: this uses the original trace for maximum accuracy
+#if COLLISIONPARANOID >= 3
+ Con_Printf("M");
+#endif
if (plane->type < 3)
{
t1 = t->start[plane->type] - plane->dist;
midf = t1 / (t1 - t2);
t->trace->fraction = bound(0.0f, midf, 1.0);
- VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
-
+#if COLLISIONPARANOID >= 3
+ Con_Printf("D");
+#endif
return HULLCHECKSTATE_DONE;
}
-/*
+#if 0
// used if start and end are the same
static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
{
// check for empty
t->trace->endcontents = num;
- if (t->trace->startcontents)
+ if (t->trace->thiscontents)
{
- if (num == t->trace->startcontents)
+ if (num == t->trace->thiscontents)
t->trace->allsolid = false;
else
{
}
}
}
-*/
-
-void Collision_RoundUpToHullSize(const model_t *cmodel, const vec3_t inmins, const vec3_t inmaxs, vec3_t outmins, vec3_t outmaxs)
-{
- vec3_t size;
- const hull_t *hull;
-
- VectorSubtract(inmaxs, inmins, size);
- if (cmodel->ishlbsp)
- {
- if (size[0] < 3)
- hull = &cmodel->hulls[0]; // 0x0x0
- else if (size[0] <= 32)
- {
- if (size[2] < 54) // pick the nearest of 36 or 72
- hull = &cmodel->hulls[3]; // 32x32x36
- else
- hull = &cmodel->hulls[1]; // 32x32x72
- }
- else
- hull = &cmodel->hulls[2]; // 64x64x64
- }
- else
- {
- if (size[0] < 3)
- hull = &cmodel->hulls[0]; // 0x0x0
- else if (size[0] <= 32)
- hull = &cmodel->hulls[1]; // 32x32x56
- else
- hull = &cmodel->hulls[2]; // 64x64x88
- }
- VectorCopy(inmins, outmins);
- VectorAdd(inmins, hull->clip_size, outmaxs);
-}
+#endif
static hull_t box_hull;
static dclipnode_t box_clipnodes[6];
static mplane_t box_planes[6];
-void Collision_Init (void)
+void Mod_Q1BSP_Collision_Init (void)
{
int i;
int side;
}
}
+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->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
-static hull_t *HullForBBoxEntity (const vec3_t corigin, const vec3_t cmins, const vec3_t cmaxs, const vec3_t mins, const vec3_t maxs, vec3_t offset)
+void Collision_Init (void)
{
- vec3_t hullmins, hullmaxs;
+}
- // create a temp hull from bounding box sizes
- VectorCopy (corigin, offset);
- VectorSubtract (cmins, maxs, hullmins);
- VectorSubtract (cmaxs, mins, hullmaxs);
- //To keep everything totally uniform, bounding boxes are turned into small
- //BSP trees instead of being compared directly.
- box_planes[0].dist = hullmaxs[0];
- box_planes[1].dist = hullmins[0];
- box_planes[2].dist = hullmaxs[1];
- box_planes[3].dist = hullmins[1];
- box_planes[4].dist = hullmaxs[2];
- box_planes[5].dist = hullmins[2];
- return &box_hull;
+
+
+
+
+
+
+
+
+
+
+
+
+void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
+{
+ int i;
+ Con_Printf("3 %s\n%i\n", name, brush->numpoints);
+ for (i = 0;i < brush->numpoints;i++)
+ Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
+ // FIXME: optimize!
+ Con_Printf("4\n%i\n", brush->numplanes);
+ for (i = 0;i < brush->numplanes;i++)
+ 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);
}
-static const hull_t *HullForBrushModel (const model_t *cmodel, const vec3_t corigin, const vec3_t mins, const vec3_t maxs, vec3_t offset)
+void Collision_ValidateBrush(colbrushf_t *brush)
{
- vec3_t size;
- const hull_t *hull;
+ int j, k, pointsoffplanes, printbrush;
+ float d;
+ printbrush = false;
+ if (!brush->numpoints)
+ {
+ Con_Printf("Collision_ValidateBrush: brush with no points!\n");
+ printbrush = true;
+ }
+#if 0
+ // it's ok for a brush to have one point and no planes...
+ if (brush->numplanes == 0 && brush->numpoints != 1)
+ {
+ Con_Printf("Collision_ValidateBrush: brush with no planes and more than one point!\n");
+ printbrush = true;
+ }
+#endif
+ if (brush->numplanes)
+ {
+ pointsoffplanes = 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++)
+ {
+ 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)
+ pointsoffplanes++;
+ }
+ }
+ if (pointsoffplanes == 0) // all points are on all planes
+ {
+ Con_Printf("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
+ printbrush = true;
+ }
+ }
+ if (printbrush)
+ Collision_PrintBrushAsQHull(brush, "unnamed");
+}
+
+float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
+{
+ float dist, bestdist;
+ bestdist = DotProduct(points->v, normal);
+ points++;
+ while(--numpoints)
+ {
+ dist = DotProduct(points->v, normal);
+ bestdist = min(bestdist, dist);
+ points++;
+ }
+ return bestdist;
+}
+
+float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
+{
+ float dist, bestdist;
+ bestdist = DotProduct(points->v, normal);
+ points++;
+ while(--numpoints)
+ {
+ dist = DotProduct(points->v, normal);
+ bestdist = max(bestdist, dist);
+ points++;
+ }
+ return bestdist;
+}
- // decide which clipping hull to use, based on the size
- // explicit hulls in the BSP model
- VectorSubtract (maxs, mins, size);
- // LordHavoc: FIXME!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!
- if (cmodel->ishlbsp)
+
+colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents, winding_t *temp1, winding_t *temp2)
+{
+ int j, k, m;
+ int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
+ winding_t *w, *temp, *othertemp;
+ colbrushf_t *brush;
+ colpointf_t pointsbuf[256];
+ colplanef_t planesbuf[256];
+ int elementsbuf[1024];
+ int polypointbuf[256];
+ float mins[3], maxs[3];
+ // 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++)
{
- if (size[0] < 3)
- hull = &cmodel->hulls[0]; // 0x0x0
- else if (size[0] <= 32)
+ // add the plane uniquely (no duplicates)
+ for (k = 0;k < numplanes;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)
+ continue;
+ // check if there are too many and skip the brush
+ if (numplanes >= 256)
{
- if (size[2] < 54) // pick the nearest of 36 or 72
- hull = &cmodel->hulls[3]; // 32x32x36
- else
- hull = &cmodel->hulls[1]; // 32x32x72
+ Con_Printf("Mod_Q3BSP_LoadBrushes: 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);
+ // clip it by all other planes
+ for (k = 0;k < numoriginalplanes && w->numpoints;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;
+ }
+ }
+ // if nothing is left, skip it
+ if (!w->numpoints)
+ continue;
+
+ // copy off the number of points for later when the winding is freed
+ numpolypoints = w->numpoints;
+
+ // check if there are too many polygon vertices for buffer
+ if (numpolypoints > maxpolypoints)
+ {
+ Con_Printf("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)
+ {
+ Con_Printf("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
+ return NULL;
+ }
+
+ for (k = 0;k < w->numpoints;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) < DIST_EPSILON)
+ break;
+
+ // if there is no match, add a new one
+ if (m == numpoints)
+ {
+ // check if there are too many and skip the brush
+ if (numpoints >= 256)
+ {
+ Con_Printf("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++;
+ }
+
+ // 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++)
+ {
+ numtriangles++;
+ elementsbuf[numelements++] = polypointbuf[0];
+ elementsbuf[numelements++] = polypointbuf[k + 1];
+ elementsbuf[numelements++] = polypointbuf[k + 2];
+ }
+
+ // add the new plane
+ VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
+ planesbuf[numplanes].dist = originalplanes[j].dist;
+ numplanes++;
+ }
+
+ // recalc distances
+ for (j = 0;j < numplanes;j++)
+ planesbuf[j].dist = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpoints);
+
+ if (numpoints)
+ {
+ VectorCopy(pointsbuf[0].v, mins);
+ VectorCopy(pointsbuf[0].v, maxs);
+ for (j = 1;j < numpoints;j++)
+ {
+ mins[0] = min(mins[0], pointsbuf[j].v[0]);
+ mins[1] = min(mins[1], pointsbuf[j].v[1]);
+ mins[2] = min(mins[2], pointsbuf[j].v[2]);
+ maxs[0] = max(maxs[0], pointsbuf[j].v[0]);
+ maxs[1] = max(maxs[1], pointsbuf[j].v[1]);
+ maxs[2] = max(maxs[2], pointsbuf[j].v[2]);
+ }
+ }
+
+ // if nothing is left, there's nothing to allocate
+ if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
+ 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]));
+ VectorCopy(mins, brush->mins);
+ VectorCopy(maxs, brush->maxs);
+ Collision_ValidateBrush(brush);
+ return brush;
+}
+
+
+
+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->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);
+ return brush;
+}
+
+void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
+{
+ int i;
+ float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
+ colpointf_t *p, *p2;
+
+ if (brush->numpoints == 3)
+ {
+ // optimized triangle case
+ TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
+ if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
+ {
+ // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
+ brush->numplanes = 0;
+ return;
}
else
- hull = &cmodel->hulls[2]; // 64x64x64
+ {
+ brush->numplanes = 5;
+ VectorNormalize(brush->planes[0].normal);
+ brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
+ VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
+ brush->planes[1].dist = -brush->planes[0].dist;
+ VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
+ VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
+ VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
+ CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
+ CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
+ CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
+ VectorNormalize(brush->planes[2].normal);
+ VectorNormalize(brush->planes[3].normal);
+ VectorNormalize(brush->planes[4].normal);
+ brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
+ brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
+ brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
+
+ if (developer.integer)
+ {
+ // validation code
+ //VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
+ //VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
+ CrossProduct(edge1, edge0, normal);
+ VectorNormalize(normal);
+ VectorSubtract(normal, brush->planes[0].normal, temp);
+ if (VectorLength(temp) > 0.01f)
+ 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]);
+ 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)
+ 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);
+ if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
+ 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);
+ if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
+ 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);
+ if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
+ 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);
+ if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
+ 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]);
+ if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
+ 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]);
+ if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
+ 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]);
+ 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)
+ 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);
+ 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)
+ 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);
+ 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)
+ 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);
+ 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)
+ 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);
+ 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)
+ 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);
+ }
+ }
}
else
{
- if (size[0] < 3)
- hull = &cmodel->hulls[0]; // 0x0x0
- else if (size[0] <= 32)
- hull = &cmodel->hulls[1]; // 32x32x56
+ // choose best surface normal for polygon's plane
+ bestdist = 0;
+ for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
+ {
+ VectorSubtract(p[-1].v, p[0].v, edge0);
+ VectorSubtract(p[1].v, p[0].v, edge1);
+ CrossProduct(edge0, edge1, normal);
+ //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
+ dist = DotProduct(normal, normal);
+ if (i == 0 || bestdist < dist)
+ {
+ bestdist = dist;
+ VectorCopy(normal, brush->planes->normal);
+ }
+ }
+ if (bestdist < 0.0001f)
+ {
+ // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
+ brush->numplanes = 0;
+ return;
+ }
else
- hull = &cmodel->hulls[2]; // 64x64x88
+ {
+ brush->numplanes = brush->numpoints + 2;
+ VectorNormalize(brush->planes->normal);
+ brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
+
+ // negate plane to create other side
+ VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
+ brush->planes[1].dist = -brush->planes[0].dist;
+ for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
+ {
+ VectorSubtract(p->v, p2->v, edge0);
+ CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
+ VectorNormalize(brush->planes[i + 2].normal);
+ brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
+ }
+ }
}
- // calculate an offset value to center the origin
- VectorSubtract (hull->clip_mins, mins, offset);
- VectorAdd (offset, corigin, offset);
+ if (developer.integer)
+ {
+ // validity check - will be disabled later
+ Collision_ValidateBrush(brush);
+ for (i = 0;i < brush->numplanes;i++)
+ {
+ int j;
+ for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
+ if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
+ Con_Printf("Error in brush plane generation, plane %i\n", i);
+ }
+ }
+}
- return hull;
+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->supercontents = supercontents;
+ brush->numpoints = numpoints;
+ brush->numplanes = numpoints + 2;
+ brush->planes = (void *)(brush + 1);
+ brush->points = (colpointf_t *)points;
+ Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
+ return brush;
}
-void Collision_ClipTrace (trace_t *trace, const void *cent, const model_t *cmodel, const vec3_t corigin, const vec3_t cangles, const vec3_t cmins, const vec3_t cmaxs, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end)
+#define COLLISIONEPSILON (1.0f / 32.0f)
+#define COLLISIONEPSILON2 0//(1.0f / 32.0f)
+
+// NOTE: start and end of each brush pair must have same numplanes/numpoints
+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)
{
- RecursiveHullCheckTraceInfo_t rhc;
- vec3_t offset, forward, left, up;
- double startd[3], endd[3], tempd[3];
+ int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
+ float enterfrac, leavefrac, d1, d2, f, newimpactnormal[3];
+ const colplanef_t *startplane, *endplane;
- // fill in a default trace
- memset (&rhc, 0, sizeof(rhc));
- memset (trace, 0, sizeof(trace_t));
+ enterfrac = -1;
+ leavefrac = 1;
+ fstartsolid = true;
+ fendsolid = true;
- rhc.trace = trace;
+ for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
+ {
+ nplane2 = nplane;
+ if (nplane2 >= thatbrush_start->numplanes)
+ {
+ nplane2 -= thatbrush_start->numplanes;
+ startplane = thisbrush_start->planes + nplane2;
+ endplane = thisbrush_end->planes + nplane2;
+ if (developer.integer)
+ {
+ // any brush with degenerate planes is not worth handling
+ if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
+ {
+ Con_Printf("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
+ return;
+ }
+ f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
+ if (fabs(f - startplane->dist) > 0.01f)
+ 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);
+ d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - COLLISIONEPSILON2;
+ }
+ else
+ {
+ startplane = thatbrush_start->planes + nplane2;
+ endplane = thatbrush_end->planes + nplane2;
+ if (developer.integer)
+ {
+ // any brush with degenerate planes is not worth handling
+ if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
+ {
+ Con_Printf("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
+ return;
+ }
+ f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
+ if (fabs(f - startplane->dist) > 0.01f)
+ 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;
+ d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - startplane->dist - COLLISIONEPSILON2;
+ }
+ //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
- rhc.trace->fraction = 1;
- rhc.trace->allsolid = true;
+ f = d1 - d2;
+ if (f >= 0)
+ {
+ // moving into brush
+ if (d2 > 0)
+ return;
+ if (d1 < 0)
+ continue;
+ // enter
+ fstartsolid = false;
+ f = (d1 - COLLISIONEPSILON) / f;
+ f = bound(0, f, 1);
+ if (enterfrac < f)
+ {
+ enterfrac = f;
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+ }
+ }
+ else
+ {
+ // moving out of brush
+ if (d1 > 0)
+ return;
+ if (d2 < 0)
+ continue;
+ // leave
+ fendsolid = false;
+ f = (d1 + COLLISIONEPSILON) / f;
+ f = bound(0, f, 1);
+ if (leavefrac > f)
+ leavefrac = f;
+ }
+ }
- if (cmodel && cmodel->type == mod_brush)
+ brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
+ if (fstartsolid)
{
- // brush model
+ trace->startsupercontents |= thatbrush_start->supercontents;
+ if (brushsolid)
+ {
+ trace->startsolid = true;
+ if (fendsolid)
+ trace->allsolid = true;
+ }
+ }
+
+ // LordHavoc: we need an epsilon nudge here because for a point trace the
+ // penetrating line segment is normally zero length if this brush was
+ // generated from a polygon (infinitely thin), and could even be slightly
+ // positive or negative due to rounding errors in that case.
+ if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+ {
+ trace->fraction = bound(0, enterfrac, 1);
+ VectorCopy(newimpactnormal, trace->plane.normal);
+ }
+}
- // get the clipping hull
- rhc.hull = HullForBrushModel (cmodel, corigin, mins, maxs, offset);
+// NOTE: start and end brush pair must have same numplanes/numpoints
+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, newimpactnormal[3];
+ const colplanef_t *startplane, *endplane;
- VectorSubtract(start, offset, startd);
- VectorSubtract(end, offset, endd);
+ enterfrac = -1;
+ leavefrac = 1;
+ fstartsolid = true;
+ fendsolid = true;
- // rotate start and end into the model's frame of reference
- if (cangles[0] || cangles[1] || cangles[2])
+ for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
+ {
+ startplane = thatbrush_start->planes + nplane;
+ endplane = thatbrush_end->planes + nplane;
+ d1 = DotProduct(startplane->normal, linestart) - startplane->dist;
+ d2 = DotProduct(endplane->normal, lineend) - endplane->dist - COLLISIONEPSILON2;
+ if (developer.integer)
{
- AngleVectorsFLU (cangles, forward, left, up);
- VectorCopy(startd, tempd);
- startd[0] = DotProduct (tempd, forward);
- startd[1] = DotProduct (tempd, left);
- startd[2] = DotProduct (tempd, up);
- VectorCopy(endd, tempd);
- endd[0] = DotProduct (tempd, forward);
- endd[1] = DotProduct (tempd, left);
- endd[2] = DotProduct (tempd, up);
+ // any brush with degenerate planes is not worth handling
+ if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
+ {
+ Con_Printf("Collision_TraceLineBrushFloat: degenerate plane!\n");
+ return;
+ }
+ if (thatbrush_start->numpoints)
+ {
+ f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
+ if (fabs(f - startplane->dist) > 0.01f)
+ Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
+ }
}
- // trace a line through the appropriate clipping hull
- VectorCopy(startd, rhc.start);
- VectorCopy(endd, rhc.end);
- VectorCopy(rhc.end, rhc.trace->endpos);
- VectorSubtract(rhc.end, rhc.start, rhc.dist);
- //if (DotProduct(rhc.dist, rhc.dist) > 0.00001)
- RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
- //else
- // RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
-
- // if we hit, unrotate endpos and normal, and store the entity we hit
- if (rhc.trace->fraction != 1)
+ f = d1 - d2;
+ if (f >= 0)
{
- // rotate endpos back to world frame of reference
- if (cangles[0] || cangles[1] || cangles[2])
+ // moving into brush
+ if (d2 > 0)
+ return;
+ if (d1 < 0)
+ continue;
+ // enter
+ fstartsolid = false;
+ f = (d1 - COLLISIONEPSILON) / f;
+ f = bound(0, f, 1);
+ if (enterfrac < f)
{
- VectorNegate (cangles, offset);
- AngleVectorsFLU (offset, forward, left, up);
-
- VectorCopy (rhc.trace->endpos, tempd);
- rhc.trace->endpos[0] = DotProduct (tempd, forward);
- rhc.trace->endpos[1] = DotProduct (tempd, left);
- rhc.trace->endpos[2] = DotProduct (tempd, up);
-
- VectorCopy (rhc.trace->plane.normal, tempd);
- rhc.trace->plane.normal[0] = DotProduct (tempd, forward);
- rhc.trace->plane.normal[1] = DotProduct (tempd, left);
- rhc.trace->plane.normal[2] = DotProduct (tempd, up);
+ enterfrac = f;
+ VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
}
- rhc.trace->ent = (void *) cent;
}
- else if (rhc.trace->allsolid || rhc.trace->startsolid)
- rhc.trace->ent = (void *) cent;
- // fix offset
- VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
+ else
+ {
+ // moving out of brush
+ if (d1 > 0)
+ return;
+ if (d2 < 0)
+ continue;
+ // leave
+ fendsolid = false;
+ f = (d1 + COLLISIONEPSILON) / f;
+ f = bound(0, f, 1);
+ if (leavefrac > f)
+ leavefrac = f;
+ }
}
- else
+
+ brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
+ if (fstartsolid)
+ {
+ trace->startsupercontents |= thatbrush_start->supercontents;
+ if (brushsolid)
+ {
+ trace->startsolid = true;
+ if (fendsolid)
+ trace->allsolid = true;
+ }
+ }
+
+ // LordHavoc: we need an epsilon nudge here because for a point trace the
+ // penetrating line segment is normally zero length if this brush was
+ // generated from a polygon (infinitely thin), and could even be slightly
+ // positive or negative due to rounding errors in that case.
+ if (brushsolid && enterfrac > -1 && enterfrac < trace->fraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
+ {
+ trace->fraction = bound(0, enterfrac, 1);
+ VectorCopy(newimpactnormal, trace->plane.normal);
+ }
+}
+
+static colpointf_t polyf_points[256];
+static colplanef_t polyf_planes[256 + 2];
+static colbrushf_t polyf_brush;
+
+void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
+{
+ if (numpoints > 256)
+ {
+ Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
+ return;
+ }
+ polyf_brush.numpoints = numpoints;
+ polyf_brush.numplanes = numpoints + 2;
+ polyf_brush.points = (colpointf_t *)points;
+ polyf_brush.planes = polyf_planes;
+ polyf_brush.supercontents = supercontents;
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+ //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+ Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
+}
+
+void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
+{
+ int i;
+ float facemins[3], facemaxs[3];
+ polyf_brush.numpoints = 3;
+ polyf_brush.numplanes = 5;
+ polyf_brush.points = polyf_points;
+ polyf_brush.planes = polyf_planes;
+ polyf_brush.supercontents = supercontents;
+ for (i = 0;i < numtriangles;i++, element3i += 3)
+ {
+ VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
+ VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
+ VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
+ facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
+ facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
+ facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
+ facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
+ facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
+ facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
+ if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
+ {
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+ //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+ Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
+ }
+ }
+}
+
+void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
+{
+ if (numpoints > 256)
+ {
+ Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
+ return;
+ }
+ polyf_brush.numpoints = numpoints;
+ polyf_brush.numplanes = numpoints + 2;
+ polyf_brush.points = (colpointf_t *)points;
+ polyf_brush.planes = polyf_planes;
+ polyf_brush.supercontents = supercontents;
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+ //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+ Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
+}
+
+void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int supercontents, const vec3_t segmentmins, const vec3_t segmentmaxs)
+{
+ int i;
+ float facemins[3], facemaxs[3];
+ polyf_brush.numpoints = 3;
+ polyf_brush.numplanes = 5;
+ polyf_brush.points = polyf_points;
+ polyf_brush.planes = polyf_planes;
+ polyf_brush.supercontents = supercontents;
+ for (i = 0;i < numtriangles;i++, element3i += 3)
+ {
+ VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
+ VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
+ VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
+ facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0]));
+ facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1]));
+ facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2]));
+ facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0]));
+ facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1]));
+ facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2]));
+ if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
+ {
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+ //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+ Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
+ }
+ }
+}
+
+
+static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
+static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
+static colbrushf_t polyf_brushstart, polyf_brushend;
+
+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 i;
+ if (numpoints > 256)
{
- // bounding box
+ Con_Printf("Polygon with more than 256 points not supported yet (fixme!)\n");
+ return;
+ }
+ polyf_brushstart.numpoints = numpoints;
+ polyf_brushstart.numplanes = numpoints + 2;
+ polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
+ polyf_brushstart.planes = polyf_planesstart;
+ polyf_brushstart.supercontents = supercontents;
+ for (i = 0;i < numpoints;i++)
+ Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
+ polyf_brushend.numpoints = numpoints;
+ polyf_brushend.numplanes = numpoints + 2;
+ polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
+ polyf_brushend.planes = polyf_planesend;
+ polyf_brushend.supercontents = supercontents;
+ for (i = 0;i < numpoints;i++)
+ Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
+ Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
+
+ //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
+ //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
+
+ Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
+}
- rhc.hull = HullForBBoxEntity (corigin, cmins, cmaxs, mins, maxs, offset);
- // trace a line through the generated clipping hull
- VectorSubtract(start, offset, rhc.start);
- VectorSubtract(end, offset, rhc.end);
- VectorCopy(rhc.end, rhc.trace->endpos);
- VectorSubtract(rhc.end, rhc.start, rhc.dist);
- //if (DotProduct(rhc.dist, rhc.dist) > 0.00001)
- RecursiveHullCheck (&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
- //else
- // RecursiveHullCheckPoint (&rhc, rhc.hull->firstclipnode);
- // if we hit, store the entity we hit
- if (rhc.trace->fraction != 1)
+#define MAX_BRUSHFORBOX 16
+static int brushforbox_index = 0;
+static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
+static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
+static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
+static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
+
+void Collision_InitBrushForBox(void)
+{
+ int i;
+ for (i = 0;i < MAX_BRUSHFORBOX;i++)
+ {
+ brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
+ brushforbox_brush[i].numpoints = 8;
+ brushforbox_brush[i].numplanes = 6;
+ brushforbox_brush[i].points = brushforbox_point + i * 8;
+ brushforbox_brush[i].planes = brushforbox_plane + i * 6;
+ brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
+ brushforpoint_brush[i].numpoints = 1;
+ brushforpoint_brush[i].numplanes = 0;
+ brushforpoint_brush[i].points = brushforbox_point + i * 8;
+ brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
+ }
+}
+
+colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
+{
+ int i;
+ vec3_t v;
+ colbrushf_t *brush;
+ if (brushforbox_brush[0].numpoints == 0)
+ Collision_InitBrushForBox();
+ if (VectorCompare(mins, maxs))
+ {
+ // point brush
+ brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
+ VectorCopy(mins, brush->points->v);
+ }
+ else
+ {
+ brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
+ // FIXME: optimize
+ for (i = 0;i < 8;i++)
{
- // fix offset
- VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
- rhc.trace->ent = (void *) cent;
+ v[0] = i & 1 ? maxs[0] : mins[0];
+ v[1] = i & 2 ? maxs[1] : mins[1];
+ v[2] = i & 4 ? maxs[2] : mins[2];
+ Matrix4x4_Transform(matrix, v, brush->points[i].v);
}
- else if (rhc.trace->allsolid || rhc.trace->startsolid)
- rhc.trace->ent = (void *) cent;
+ // FIXME: optimize!
+ for (i = 0;i < 6;i++)
+ {
+ VectorClear(v);
+ v[i >> 1] = i & 1 ? 1 : -1;
+ Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
+ VectorNormalize(brush->planes[i].normal);
+ brush->planes[i].dist = furthestplanedist_float(brush->planes[i].normal, brush->points, brush->numpoints);
+ }
+ }
+ Collision_ValidateBrush(brush);
+ return brush;
+}
+
+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)
+{
+ colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
+ matrix4x4_t identitymatrix;
+ vec3_t startmins, startmaxs, endmins, endmaxs;
+
+ // create brushes for the collision
+ VectorAdd(start, mins, startmins);
+ VectorAdd(start, maxs, startmaxs);
+ VectorAdd(end, mins, endmins);
+ VectorAdd(end, maxs, endmaxs);
+ Matrix4x4_CreateIdentity(&identitymatrix);
+ boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
+ thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
+ thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
+
+ memset(trace, 0, sizeof(trace_t));
+ trace->hitsupercontentsmask = hitsupercontentsmask;
+ trace->fraction = 1;
+ trace->allsolid = true;
+ Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
+}
+
+// LordHavoc: currently unused and not yet 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)
+float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
+{
+ 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;
+ // calculate line direction
+ dir[0] = lineend[0] - linestart[0];
+ dir[1] = lineend[1] - linestart[1];
+ dir[2] = lineend[2] - linestart[2];
+ // normalize direction
+ linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
+ if (linelength)
+ {
+ scale = 1.0 / linelength;
+ dir[0] *= scale;
+ dir[1] *= scale;
+ dir[2] *= scale;
+ }
+ // 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]);
+ // 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];
+ // 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);
+ 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];
+ // 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];
+ // 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;
+ }
+ // return fraction of movement distance
+ return impactdist / linelength;
+}
+
+typedef struct colbspnode_s
+{
+ mplane_t plane;
+ struct colbspnode_s *children[2];
+ // the node is reallocated or split if max is reached
+ int numcolbrushf;
+ int maxcolbrushf;
+ colbrushf_t **colbrushflist;
+ //int numcolbrushd;
+ //int maxcolbrushd;
+ //colbrushd_t **colbrushdlist;
+}
+colbspnode_t;
+
+typedef struct colbsp_s
+{
+ mempool_t *mempool;
+ colbspnode_t *nodes;
+}
+colbsp_t;
+
+colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
+{
+ colbsp_t *bsp;
+ bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
+ bsp->mempool = mempool;
+ bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
+ return bsp;
+}
+
+void Collision_FreeCollisionBSPNode(colbspnode_t *node)
+{
+ if (node->children[0])
+ Collision_FreeCollisionBSPNode(node->children[0]);
+ if (node->children[1])
+ Collision_FreeCollisionBSPNode(node->children[1]);
+ while (--node->numcolbrushf)
+ Mem_Free(node->colbrushflist[node->numcolbrushf]);
+ //while (--node->numcolbrushd)
+ // Mem_Free(node->colbrushdlist[node->numcolbrushd]);
+ Mem_Free(node);
+}
+
+void Collision_FreeCollisionBSP(colbsp_t *bsp)
+{
+ Collision_FreeCollisionBSPNode(bsp->nodes);
+ Mem_Free(bsp);
+}
+
+void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
+{
+ int i;
+ colpointf_t *ps, *pe;
+ float tempstart[3], tempend[3];
+ VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
+ VectorCopy(mins, maxs);
+ for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
+ {
+ VectorLerp(ps->v, startfrac, pe->v, tempstart);
+ VectorLerp(ps->v, endfrac, pe->v, tempend);
+ mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
+ mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
+ mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
+ maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
+ maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
+ maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
}
}
projects / xonotic / darkplaces.git / blobdiff