X-Git-Url: http://de.git.xonotic.org/?p=xonotic%2Fdarkplaces.git;a=blobdiff_plain;f=collision.c;h=73a1bd0a5b374fa1d2c1a847d0150242c8ffae74;hp=2511205e123bfbc9d1ae143d3ac5c6e52f43ca0c;hb=7a96ec58916ceea50684acf4c00eaef551199fef;hpb=d19ee69546ce77acd4a3c1f4a11f9ad79a111e80

diff --git a/collision.c b/collision.c
index 2511205e..73a1bd0a 100644
--- a/collision.c
+++ b/collision.c
@@ -1,437 +1,1541 @@
 
 #include "quakedef.h"
+#include "polygon.h"
 
-typedef struct
+#define COLLISION_SNAPSCALE (32.0f)
+#define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
+#define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
+#define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
+
+cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
+cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
+cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
+cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
+cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
+cvar_t collision_prefernudgedfraction = {0, "collision_prefernudgedfraction", "1", "whether to sort collision events by nudged fraction (1) or real fraction (0)"};
+
+void Collision_Init (void)
 {
-	// the hull we're tracing through
-	const hull_t *hull;
+	Cvar_RegisterVariable(&collision_impactnudge);
+	Cvar_RegisterVariable(&collision_startnudge);
+	Cvar_RegisterVariable(&collision_endnudge);
+	Cvar_RegisterVariable(&collision_enternudge);
+	Cvar_RegisterVariable(&collision_leavenudge);
+	Cvar_RegisterVariable(&collision_prefernudgedfraction);
+}
+
+
+
+
 
-	// 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];
-}
-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])
-{
-	// 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;
-	//double frac;
-	//double mid[3];
 
-	// 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)
+
+
+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);
+}
+
+void Collision_ValidateBrush(colbrushf_t *brush)
+{
+	int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
+	float d;
+	printbrush = false;
+	if (!brush->numpoints)
+	{
+		Con_Print("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_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
+		printbrush = true;
+	}
+#endif
+	if (brush->numplanes)
 	{
-		t->trace->endcontents = num;
-		if (t->trace->startcontents)
+		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++)
 		{
-			if (num == t->trace->startcontents)
-				t->trace->allsolid = false;
-			else
+			pointonplanes = 0;
+			for (k = 0;k < brush->numplanes;k++)
 			{
-				// if the first leaf is solid, set startsolid
-				if (t->trace->allsolid)
-					t->trace->startsolid = true;
-				return HULLCHECKSTATE_SOLID;
+				d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
+				if (d > COLLISION_PLANE_DIST_EPSILON)
+				{
+					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) > COLLISION_PLANE_DIST_EPSILON)
+					pointsoffplanes++;
+				else
+					pointonplanes++;
 			}
-			return HULLCHECKSTATE_EMPTY;
+			if (pointonplanes < 3)
+				pointswithinsufficientplanes++;
 		}
-		else
+		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
 		{
-			if (num != CONTENTS_SOLID)
+			Con_Print("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;
+	if (!numpoints)
+		return 0;
+	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;
+	if (!numpoints)
+		return 0;
+	bestdist = DotProduct(points->v, normal);
+	points++;
+	while(--numpoints)
+	{
+		dist = DotProduct(points->v, normal);
+		bestdist = max(bestdist, dist);
+		points++;
+	}
+	return bestdist;
+}
+
+
+colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
+{
+	// TODO: planesbuf could be replaced by a remapping table
+	int j, k, m, w, xyzflags;
+	int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
+	double maxdist;
+	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
+	// figure out how large a bounding box we need to properly compute this brush
+	maxdist = 0;
+	for (j = 0;j < numoriginalplanes;j++)
+		maxdist = max(maxdist, fabs(originalplanes[j].dist));
+	// now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
+	maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
+	// 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)
+	for (j = 0;j < numoriginalplanes;j++)
+	{
+		// add the plane uniquely (no duplicates)
+		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 < numplanesbuf)
+			continue;
+		// check if there are too many and skip the brush
+		if (numplanesbuf >= maxplanesbuf)
+		{
+			Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
+			return NULL;
+		}
+
+		// add the new plane
+		VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
+		planesbuf[numplanesbuf].dist = originalplanes[j].dist;
+		planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
+		planesbuf[numplanesbuf].texture = originalplanes[j].texture;
+		numplanesbuf++;
+
+		// create a large polygon from the plane
+		w = 0;
+		PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
+		pnumpoints = 4;
+		// clip it by all other planes
+		for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
+		{
+			// skip the plane this polygon
+			// (nothing happens if it is processed, this is just an optimization)
+			if (k != j)
 			{
-				t->trace->allsolid = false;
-				if (num == CONTENTS_EMPTY)
-					t->trace->inopen = true;
-				else
-					t->trace->inwater = true;
+				// we want to keep the inside of the brush plane so we flip
+				// the cutting plane
+				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);
+				w = !w;
 			}
-			else
+		}
+
+		// if nothing is left, skip it
+		if (pnumpoints < 3)
+		{
+			//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);
+			continue;
+		}
+
+		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) < COLLISION_PLANE_DIST_EPSILON)
+					m++;
+			if (m < 3)
+				break;
+		}
+		if (k < pnumpoints)
+		{
+			Con_DPrintf("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 (pnumpoints > pmaxpoints)
+		{
+			Con_DPrint("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 (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
+		{
+			Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
+			return NULL;
+		}
+
+		for (k = 0;k < pnumpoints;k++)
+		{
+			float v[3];
+			// downgrade to float precision before comparing
+			VectorCopy(&p[w][k*3], v);
+
+			// check if there is already a matching point (no duplicates)
+			for (m = 0;m < numpointsbuf;m++)
+				if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
+					break;
+
+			// if there is no match, add a new one
+			if (m == numpointsbuf)
 			{
-				// if the first leaf is solid, set startsolid
-				if (t->trace->allsolid)
-					t->trace->startsolid = true;
-				return HULLCHECKSTATE_SOLID;
+				// check if there are too many and skip the brush
+				if (numpointsbuf >= maxpointsbuf)
+				{
+					Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
+					return NULL;
+				}
+				// add the new one
+				VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
+				numpointsbuf++;
 			}
-			return HULLCHECKSTATE_EMPTY;
+
+			// store the index into a buffer
+			polypointbuf[k] = m;
 		}
-	}
 
-	// find the point distances
-	node = t->hull->clipnodes + num;
+		// add the triangles for the polygon
+		// (this particular code makes a triangle fan)
+		for (k = 0;k < pnumpoints - 2;k++)
+		{
+			elementsbuf[numelementsbuf++] = polypointbuf[0];
+			elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
+			elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
+		}
+	}
 
-	plane = t->hull->planes + node->planenum;
-	if (plane->type < 3)
+	// if nothing is left, there's nothing to allocate
+	if (numplanesbuf < 4)
 	{
-		t1 = p1[plane->type] - plane->dist;
-		t2 = p2[plane->type] - plane->dist;
+		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);
+		return NULL;
 	}
-	else
+
+	// if no triangles or points could be constructed, then this routine failed but the brush is not discarded
+	if (numelementsbuf < 12 || numpointsbuf < 4)
+		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);
+
+	// validate plane distances
+	for (j = 0;j < numplanesbuf;j++)
 	{
-		t1 = DotProduct (plane->normal, p1) - plane->dist;
-		t2 = DotProduct (plane->normal, p2) - plane->dist;
+		float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
+		if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
+			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);
 	}
 
-	if (t1 < 0)
+	// allocate the brush and copy to it
+	brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
+	brush->supercontents = supercontents;
+	brush->numplanes = numplanesbuf;
+	brush->numpoints = numpointsbuf;
+	brush->numtriangles = numelementsbuf / 3;
+	brush->planes = (colplanef_t *)(brush + 1);
+	brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
+	brush->elements = (int *)(brush->points + brush->numpoints);
+	for (j = 0;j < brush->numpoints;j++)
 	{
-		if (t2 < 0)
-		{
-			num = node->children[1];
-			goto loc0;
-		}
-		side = 1;
+		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];
 	}
-	else
+	for (j = 0;j < brush->numplanes;j++)
 	{
-		if (t2 >= 0)
-		{
-			num = node->children[0];
-			goto loc0;
-		}
-		side = 0;
+		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;
+		brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
+		brush->planes[j].texture = planesbuf[j].texture;
 	}
+	for (j = 0;j < brush->numtriangles * 3;j++)
+		brush->elements[j] = elementsbuf[j];
 
-	// the line intersects, find intersection point
-	// LordHavoc: this uses the original trace for maximum accuracy
-	if (plane->type < 3)
+	xyzflags = 0;
+	VectorClear(brush->mins);
+	VectorClear(brush->maxs);
+	for (j = 0;j < min(6, numoriginalplanes);j++)
 	{
-		t1 = t->start[plane->type] - plane->dist;
-		t2 = t->end[plane->type] - plane->dist;
+		     if (originalplanes[j].normal[0] ==  1) {xyzflags |=  1;brush->maxs[0] =  originalplanes[j].dist;}
+		else if (originalplanes[j].normal[0] == -1) {xyzflags |=  2;brush->mins[0] = -originalplanes[j].dist;}
+		else if (originalplanes[j].normal[1] ==  1) {xyzflags |=  4;brush->maxs[1] =  originalplanes[j].dist;}
+		else if (originalplanes[j].normal[1] == -1) {xyzflags |=  8;brush->mins[1] = -originalplanes[j].dist;}
+		else if (originalplanes[j].normal[2] ==  1) {xyzflags |= 16;brush->maxs[2] =  originalplanes[j].dist;}
+		else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
 	}
-	else
+	// if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
+	// (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)
+	if (xyzflags != 63)
 	{
-		t1 = DotProduct (plane->normal, t->start) - plane->dist;
-		t2 = DotProduct (plane->normal, t->end) - plane->dist;
+		VectorCopy(brush->points[0].v, brush->mins);
+		VectorCopy(brush->points[0].v, brush->maxs);
+		for (j = 1;j < brush->numpoints;j++)
+		{
+			brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
+			brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
+			brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
+			brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
+			brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
+			brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
+		}
 	}
+	brush->mins[0] -= 1;
+	brush->mins[1] -= 1;
+	brush->mins[2] -= 1;
+	brush->maxs[0] += 1;
+	brush->maxs[1] += 1;
+	brush->maxs[2] += 1;
+	Collision_ValidateBrush(brush);
+	return brush;
+}
 
-	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;
+void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
+{
+	int i;
+	float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
+	colpointf_t *p, *p2;
 
-	// front is air and back is solid, this is the impact point...
-	if (side)
+	// FIXME: these probably don't actually need to be normalized if the collision code does not care
+	if (brush->numpoints == 3)
 	{
-		t->trace->plane.dist = -plane->dist;
-		VectorNegate (plane->normal, t->trace->plane.normal);
+		// 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
+		{
+			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);
+#if 1
+			{
+				float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
+				int i, best;
+				float dist, bestdist;
+				bestdist = fabs(brush->planes[0].normal[0]);
+				best = 0;
+				for (i = 1;i < 3;i++)
+				{
+					dist = fabs(brush->planes[0].normal[i]);
+					if (bestdist < dist)
+					{
+						bestdist = dist;
+						best = i;
+					}
+				}
+				VectorClear(projectionnormal);
+				if (brush->planes[0].normal[best] < 0)
+					projectionnormal[best] = -1;
+				else
+					projectionnormal[best] = 1;
+				VectorCopy(edge0, projectionedge0);
+				VectorCopy(edge1, projectionedge1);
+				VectorCopy(edge2, projectionedge2);
+				projectionedge0[best] = 0;
+				projectionedge1[best] = 0;
+				projectionedge2[best] = 0;
+				CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
+				CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
+				CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
+			}
+#else
+			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);
+#endif
+			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 >= 100)
+			{
+				// 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);
+				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 0
+				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]);
+#endif
+#endif
+				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
 	{
-		t->trace->plane.dist = plane->dist;
-		VectorCopy (plane->normal, t->trace->plane.normal);
-	}
-
-	// bias away from surface a bit
-	t1 = DotProduct(t->trace->plane.normal, t->start) - (t->trace->plane.dist + DIST_EPSILON);
-	t2 = DotProduct(t->trace->plane.normal, t->end) - (t->trace->plane.dist + DIST_EPSILON);
+		// 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
+		{
+			brush->numplanes = brush->numpoints + 2;
+			VectorNormalize(brush->planes->normal);
+			brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
 
-	midf = t1 / (t1 - t2);
-	t->trace->fraction = bound(0.0f, midf, 1.0);
+			// 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);
+			}
+		}
+	}
 
-	VectorMA(t->start, t->trace->fraction, t->dist, t->trace->endpos);
+	if (developer.integer >= 100)
+	{
+		// 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 + COLLISION_PLANE_DIST_EPSILON)
+					Con_Printf("Error in brush plane generation, plane %i\n", i);
+		}
+	}
+}
 
-	return HULLCHECKSTATE_DONE;
+colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
+{
+	colbrushf_t *brush;
+	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 = (colplanef_t *)(brush + 1);
+	brush->points = (colpointf_t *)points;
+	Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
+	return brush;
 }
 
-// used if start and end are the same
-static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
+// 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)
 {
-	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];
+	int nplane, nplane2, hitq3surfaceflags = 0;
+	float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
+	const colplanef_t *startplane, *endplane;
+	texture_t *hittexture = NULL;
 
-	// check for empty
-	t->trace->endcontents = num;
-	if (t->trace->startcontents)
+	VectorClear(newimpactnormal);
+
+	for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
 	{
-		if (num == t->trace->startcontents)
-			t->trace->allsolid = false;
+		nplane2 = nplane;
+		if (nplane2 >= thatbrush_start->numplanes)
+		{
+			nplane2 -= thatbrush_start->numplanes;
+			startplane = thisbrush_start->planes + nplane2;
+			endplane = thisbrush_end->planes + nplane2;
+			if (developer.integer >= 100)
+			{
+				// 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_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
+					return;
+				}
+				f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
+				if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
+					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;
+			d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
+		}
 		else
 		{
-			// if the first leaf is solid, set startsolid
-			if (t->trace->allsolid)
-				t->trace->startsolid = true;
+			startplane = thatbrush_start->planes + nplane2;
+			endplane = thatbrush_end->planes + nplane2;
+			if (developer.integer >= 100)
+			{
+				// 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_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
+					return;
+				}
+				f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
+				if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
+					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;
+			d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
+		}
+		//Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
+
+		if (d1 > d2)
+		{
+			// moving into brush
+			if (d2 >= collision_enternudge.value)
+				return;
+			if (d1 > 0)
+			{
+				// enter
+				imove = 1 / (d1 - d2);
+				f = (d1 - collision_enternudge.value) * imove;
+				if (f < 0)
+					f = 0;
+				// check if this will reduce the collision time range
+				if (enterfrac < f)
+				{
+					// reduced collision time range
+					enterfrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+					// if the collision would be further away than the trace's
+					// existing collision data, we don't care about this
+					// collision
+					if (enterfrac > trace->realfraction)
+						return;
+					// calculate the nudged fraction and impact normal we'll
+					// need if we accept this collision later
+					enterfrac2 = (d1 - collision_impactnudge.value) * imove;
+					VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+					hitq3surfaceflags = startplane->q3surfaceflags;
+					hittexture = startplane->texture;
+				}
+			}
+		}
+		else
+		{
+			// moving out of brush
+			if (d1 > 0)
+				return;
+			if (d2 > 0)
+			{
+				// leave
+				f = (d1 + collision_leavenudge.value) / (d1 - d2);
+				if (f > 1)
+					f = 1;
+				// check if this will reduce the collision time range
+				if (leavefrac > f)
+				{
+					// reduced collision time range
+					leavefrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+				}
+			}
 		}
 	}
-	else
+
+	// at this point we know the trace overlaps the brush because it was not
+	// rejected at any point in the loop above
+
+	// see if the trace started outside the brush or not
+	if (enterfrac > -1)
 	{
-		if (num != CONTENTS_SOLID)
+		// started outside, and overlaps, therefore there is a collision here
+		// store out the impact information
+		if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
 		{
-			t->trace->allsolid = false;
-			if (num == CONTENTS_EMPTY)
-				t->trace->inopen = true;
-			else
-				t->trace->inwater = true;
+			trace->hitsupercontents = thatbrush_start->supercontents;
+			trace->hitq3surfaceflags = hitq3surfaceflags;
+			trace->hittexture = hittexture;
+			trace->realfraction = bound(0, enterfrac, 1);
+			trace->fraction = bound(0, enterfrac2, 1);
+			if (collision_prefernudgedfraction.integer)
+				trace->realfraction = trace->fraction;
+			VectorCopy(newimpactnormal, trace->plane.normal);
 		}
-		else
+	}
+	else
+	{
+		// started inside, update startsolid and friends
+		trace->startsupercontents |= thatbrush_start->supercontents;
+		if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
 		{
-			// if the first leaf is solid, set startsolid
-			if (t->trace->allsolid)
-				t->trace->startsolid = true;
+			trace->startsolid = true;
+			if (leavefrac < 1)
+				trace->allsolid = true;
 		}
 	}
 }
 
-void Collision_RoundUpToHullSize(const model_t *cmodel, const vec3_t inmins, const vec3_t inmaxs, vec3_t outmins, vec3_t outmaxs)
+// 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)
 {
-	vec3_t size;
-	const hull_t *hull;
+	int nplane, hitq3surfaceflags = 0;
+	float enterfrac = -1, leavefrac = 1, d1, d2, f, imove, newimpactnormal[3], enterfrac2 = -1;
+	const colplanef_t *startplane, *endplane;
+	texture_t *hittexture = NULL;
+
+	VectorClear(newimpactnormal);
 
-	VectorSubtract(inmaxs, inmins, size);
-	if (cmodel->ishlbsp)
+	for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
 	{
-		if (size[0] < 3)
-			hull = &cmodel->hulls[0]; // 0x0x0
-		else if (size[0] <= 32)
+		startplane = thatbrush_start->planes + nplane;
+		endplane = thatbrush_end->planes + nplane;
+		d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
+		d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
+		if (developer.integer >= 100)
 		{
-			if (size[2] < 54) // pick the nearest of 36 or 72
-				hull = &cmodel->hulls[3]; // 32x32x36
-			else
-				hull = &cmodel->hulls[1]; // 32x32x72
+			// 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_Print("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) > COLLISION_PLANE_DIST_EPSILON)
+					Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
+			}
+		}
+
+		if (d1 > d2)
+		{
+			// moving into brush
+			if (d2 >= collision_enternudge.value)
+				return;
+			if (d1 > 0)
+			{
+				// enter
+				imove = 1 / (d1 - d2);
+				f = (d1 - collision_enternudge.value) * imove;
+				if (f < 0)
+					f = 0;
+				// check if this will reduce the collision time range
+				if (enterfrac < f)
+				{
+					// reduced collision time range
+					enterfrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+					// if the collision would be further away than the trace's
+					// existing collision data, we don't care about this
+					// collision
+					if (enterfrac > trace->realfraction)
+						return;
+					// calculate the nudged fraction and impact normal we'll
+					// need if we accept this collision later
+					enterfrac2 = (d1 - collision_impactnudge.value) * imove;
+					VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
+					hitq3surfaceflags = startplane->q3surfaceflags;
+					hittexture = startplane->texture;
+				}
+			}
 		}
 		else
-			hull = &cmodel->hulls[2]; // 64x64x64
+		{
+			// moving out of brush
+			if (d1 > 0)
+				return;
+			if (d2 > 0)
+			{
+				// leave
+				f = (d1 + collision_leavenudge.value) / (d1 - d2);
+				// check if this will reduce the collision time range
+				if (leavefrac > f)
+				{
+					// reduced collision time range
+					leavefrac = f;
+					// if the collision time range is now empty, no collision
+					if (enterfrac > leavefrac)
+						return;
+				}
+			}
+		}
+	}
+
+	// at this point we know the trace overlaps the brush because it was not
+	// rejected at any point in the loop above
+
+	// see if the trace started outside the brush or not
+	if (enterfrac > -1)
+	{
+		// started outside, and overlaps, therefore there is a collision here
+		// store out the impact information
+		if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
+		{
+			trace->hitsupercontents = thatbrush_start->supercontents;
+			trace->hitq3surfaceflags = hitq3surfaceflags;
+			trace->hittexture = hittexture;
+			trace->realfraction = bound(0, enterfrac, 1);
+			trace->fraction = bound(0, enterfrac2, 1);
+			if (collision_prefernudgedfraction.integer)
+				trace->realfraction = trace->fraction;
+			VectorCopy(newimpactnormal, trace->plane.normal);
+		}
 	}
 	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
+		// started inside, update startsolid and friends
+		trace->startsupercontents |= thatbrush_start->supercontents;
+		if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
+		{
+			trace->startsolid = true;
+			if (leavefrac < 1)
+				trace->allsolid = true;
+		}
 	}
-	VectorCopy(inmins, outmins);
-	VectorAdd(inmins, hull->clip_size, outmaxs);
 }
 
-static hull_t box_hull;
-static dclipnode_t box_clipnodes[6];
-static mplane_t box_planes[6];
+qboolean Collision_PointInsideBrushFloat(const vec3_t point, const colbrushf_t *brush)
+{
+	int nplane;
+	const colplanef_t *plane;
 
-void Collision_Init (void)
+	if (!BoxesOverlap(point, point, brush->mins, brush->maxs))
+		return false;
+	for (nplane = 0, plane = brush->planes;nplane < brush->numplanes;nplane++, plane++)
+		if (DotProduct(plane->normal, point) > plane->dist)
+			return false;
+	return true;
+}
+
+void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
 {
-	int		i;
-	int		side;
+	if (!Collision_PointInsideBrushFloat(point, thatbrush))
+		return;
 
-	//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.
+	trace->startsupercontents |= thatbrush->supercontents;
+	if (trace->hitsupercontentsmask & thatbrush->supercontents)
+	{
+		trace->startsolid = true;
+		trace->allsolid = true;
+	}
+}
 
-	box_hull.clipnodes = box_clipnodes;
-	box_hull.planes = box_planes;
-	box_hull.firstclipnode = 0;
-	box_hull.lastclipnode = 5;
+static colpointf_t polyf_points[256];
+static colplanef_t polyf_planes[256 + 2];
+static colbrushf_t polyf_brush;
 
-	for (i = 0;i < 6;i++)
+void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
+{
+	int i;
+	for (i = 0;i < numpoints;i++)
 	{
-		box_clipnodes[i].planenum = i;
+		out[i].v[0] = floor(in[i].v[0] * fractionprecision + 0.5f) * invfractionprecision;
+		out[i].v[1] = floor(in[i].v[1] * fractionprecision + 0.5f) * invfractionprecision;
+		out[i].v[2] = floor(in[i].v[2] * fractionprecision + 0.5f) * invfractionprecision;
+	}
+}
 
-		side = i&1;
+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_Print("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;
+	polyf_brush.points = polyf_points;
+	Collision_SnapCopyPoints(polyf_brush.numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+	Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+	//Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
+}
 
-		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;
+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)
+{
+	int i;
+	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 < polyf_brush.numplanes;i++)
+	{
+		polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
+		polyf_brush.planes[i].texture = texture;
+	}
+	for (i = 0;i < numtriangles;i++, element3i += 3)
+	{
+		if (TriangleOverlapsBox(vertex3f + element3i[0]*3, vertex3f + element3i[1]*3, vertex3f + element3i[2]*3, segmentmins, segmentmaxs))
+		{
+			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);
+			Collision_SnapCopyPoints(polyf_brush.numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+			Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+			//Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+			Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
+		}
+	}
+}
 
-		box_planes[i].type = i>>1;
-		box_planes[i].normal[i>>1] = 1;
+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_Print("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.points = polyf_points;
+	Collision_SnapCopyPoints(polyf_brush.numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+	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, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
+{
+	int i;
+#if 1
+	// FIXME: snap vertices?
+	for (i = 0;i < numtriangles;i++, element3i += 3)
+		Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
+#else
+	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 < polyf_brush.numplanes;i++)
+	{
+		polyf_brush.planes[i].supercontents = supercontents;
+		polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
+		polyf_brush.planes[i].texture = texture;
+	}
+	for (i = 0;i < numtriangles;i++, element3i += 3)
+	{
+		if (TriangleOverlapsBox(vertex3f + element3i[0]*3, vertex3 + [element3i[1]*3, vertex3f + element3i[2]*3, segmentmins, segmentmaxs))
+		{
+			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);
+			Collision_SnapCopyPoints(polyf_brush.numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
+			Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
+			//Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
+			Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
+		}
+	}
+#endif
+}
+
+
+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;
 
-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_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)
 {
-	vec3_t hullmins, hullmaxs;
+	int i;
+	if (numpoints > 256)
+	{
+		Con_Print("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);
+	for (i = 0;i < polyf_brushstart.numplanes;i++)
+	{
+		polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
+		polyf_brushstart.planes[i].texture = texture;
+	}
+	Collision_SnapCopyPoints(polyf_brushstart.numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
+	Collision_SnapCopyPoints(polyf_brushend.numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
+	Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
+	Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
 
-	// create a temp hull from bounding box sizes
-	VectorCopy (corigin, offset);
-	VectorSubtract (cmins, maxs, hullmins);
-	VectorSubtract (cmaxs, mins, hullmaxs);
+	//Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
+	//Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
 
-	//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;
+	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
 }
 
-static const hull_t *HullForBrushModel (const model_t *cmodel, const vec3_t corigin, const vec3_t mins, const vec3_t maxs, vec3_t offset)
+
+
+#define MAX_BRUSHFORBOX 16
+static unsigned int brushforbox_index = 0;
+// note: this relies on integer overflow to be consistent with modulo
+// MAX_BRUSHFORBOX, or in other words, MAX_BRUSHFORBOX must be a power of two!
+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)
 {
-	vec3_t size;
-	const hull_t *hull;
+	int i;
+	for (i = 0;i < MAX_BRUSHFORBOX;i++)
+	{
+		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].numpoints = 1;
+		brushforpoint_brush[i].numplanes = 0;
+		brushforpoint_brush[i].points = brushforbox_point + i * 8;
+		brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
+	}
+}
 
-	// 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_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
+{
+	int i, j;
+	vec3_t v;
+	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
+		brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
+		VectorCopy(mins, brush->points->v);
+	}
+	else
 	{
-		if (size[0] < 3)
-			hull = &cmodel->hulls[0]; // 0x0x0
-		else if (size[0] <= 32)
+		brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
+		// FIXME: optimize
+		for (i = 0;i < 8;i++)
 		{
-			if (size[2] < 54) // pick the nearest of 36 or 72
-				hull = &cmodel->hulls[3]; // 32x32x36
-			else
-				hull = &cmodel->hulls[1]; // 32x32x72
+			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);
+		}
+		// 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);
 		}
-		else
-			hull = &cmodel->hulls[2]; // 64x64x64
 	}
-	else
+	brush->supercontents = supercontents;
+	for (j = 0;j < brush->numplanes;j++)
 	{
-		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
+		brush->planes[j].q3surfaceflags = q3surfaceflags;
+		brush->planes[j].texture = texture;
+		brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
+	}
+	VectorCopy(brush->points[0].v, brush->mins);
+	VectorCopy(brush->points[0].v, brush->maxs);
+	for (j = 1;j < brush->numpoints;j++)
+	{
+		brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
+		brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
+		brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
+		brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
+		brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
+		brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
+	}
+	brush->mins[0] -= 1;
+	brush->mins[1] -= 1;
+	brush->mins[2] -= 1;
+	brush->maxs[0] += 1;
+	brush->maxs[1] += 1;
+	brush->maxs[2] += 1;
+	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, int supercontents, int q3surfaceflags, texture_t *texture)
+{
+	colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
+	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);
+	boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
+	thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
+	thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
+
+	memset(trace, 0, sizeof(trace_t));
+	trace->hitsupercontentsmask = hitsupercontentsmask;
+	trace->fraction = 1;
+	trace->realfraction = 1;
+	trace->allsolid = true;
+	Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
+}
+
+//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)
+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
+	VectorCopy(lineend, impactpoint);
+	VectorClear(impactnormal);
+	// calculate line direction
+	VectorSubtract(lineend, linestart, dir);
+	// normalize direction
+	linelength = VectorLength(dir);
+	if (linelength)
+	{
+		scale = 1.0 / linelength;
+		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 = 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)
+	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 -= sphereradius - 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
+	VectorMA(linestart, impactdist, dir, impactpoint);
+	// calculate impactnormal (surface normal at point of impact)
+	VectorSubtract(impactpoint, sphereorigin, impactnormal);
+	// normalize impactnormal
+	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, int supercontents, int q3surfaceflags, texture_t *texture)
+{
+#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...
+	// 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 faceplanenormal of the triangle, this represents the front side
+	// 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)
+	// 6 ops
+	faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
+	if (faceplanenormallength2 < 0.0001f)
+		return;
+	// 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;
+
+	if (collision_prefernudgedfraction.integer)
+		trace->realfraction = trace->fraction;
+
+	// 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;
+
+	trace->hitsupercontents = supercontents;
+	trace->hitq3surfaceflags = q3surfaceflags;
+	trace->hittexture = texture;
+#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)
+		return;
+
+	// calculate the unnormalized end distance
+	d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
+	// if both are in front, there is no collision
+	if (d2 >= 0)
+		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)
+	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
+	f = d1 * d;
+	// skip out if this impact is further away than previous ones
+	if (f > trace->realfraction)
+		return;
+	// calculate the perfect impact point for classification of insidedness
+	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)
+
+	VectorSubtract(point2, point0, edge);
+	CrossProduct(edge, faceplanenormal, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
+		return;
+
+	VectorSubtract(point0, point1, edge);
+	CrossProduct(edge, faceplanenormal, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
+		return;
+
+	VectorSubtract(point1, point2, edge);
+	CrossProduct(edge, faceplanenormal, edgenormal);
+	if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
+		return;
+
+	// store the new trace fraction
+	trace->realfraction = bound(0, f, 1);
 
-	// calculate an offset value to center the origin
-	VectorSubtract (hull->clip_mins, mins, offset);
-	VectorAdd (offset, corigin, offset);
+	// 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);
 
-	return hull;
+	// 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) / (d1 - d2);
+	trace->fraction = bound(0, fnudged, 1);
+
+	// store the new trace endpos
+	// not needed, it's calculated later when the trace is finished
+	//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]);
+	trace->hitsupercontents = supercontents;
+	trace->hitq3surfaceflags = q3surfaceflags;
+	trace->hittexture = texture;
+#endif
 }
 
-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)
+typedef struct colbspnode_s
 {
-	RecursiveHullCheckTraceInfo_t rhc;
-	vec3_t offset, forward, left, up;
-	double startd[3], endd[3], tempd[3];
+	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;
 
-	// fill in a default trace
-	memset (&rhc, 0, sizeof(rhc));
-	memset (trace, 0, sizeof(trace_t));
+typedef struct colbsp_s
+{
+	mempool_t *mempool;
+	colbspnode_t *nodes;
+}
+colbsp_t;
 
-	rhc.trace = trace;
+colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
+{
+	colbsp_t *bsp;
+	bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
+	bsp->mempool = mempool;
+	bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
+	return bsp;
+}
 
-	rhc.trace->fraction = 1;
-	rhc.trace->allsolid = true;
+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);
+}
 
-	if (cmodel && cmodel->type == mod_brush)
+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++)
 	{
-		// brush model
+		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]));
+	}
+	mins[0] -= 1;
+	mins[1] -= 1;
+	mins[2] -= 1;
+	maxs[0] += 1;
+	maxs[1] += 1;
+	maxs[2] += 1;
+}
 
-		// get the clipping hull
-		rhc.hull = HullForBrushModel (cmodel, corigin, mins, maxs, offset);
+//===========================================
 
-		VectorSubtract(start, offset, startd);
-		VectorSubtract(end, offset, endd);
+void Collision_ClipToGenericEntity(trace_t *trace, dp_model_t *model, int frame, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask)
+{
+	float tempnormal[3], starttransformed[3], endtransformed[3];
 
-		// rotate start and end into the model's frame of reference
-		if (cangles[0] || cangles[1] || cangles[2])
-		{
-			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);
-		}
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+	VectorCopy(end, trace->endpos);
 
-		// 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);
+	Matrix4x4_Transform(inversematrix, start, starttransformed);
+	Matrix4x4_Transform(inversematrix, end, endtransformed);
+#if COLLISIONPARANOID >= 3
+	Con_Printf("trans(%f %f %f -> %f %f %f, %f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2], end[0], end[1], end[2], endtransformed[0], endtransformed[1], endtransformed[2]);
+#endif
 
-		// if we hit, unrotate endpos and normal, and store the entity we hit
-		if (rhc.trace->fraction != 1)
-		{
-			// rotate endpos back to world frame of reference
-			if (cangles[0] || cangles[1] || cangles[2])
-			{
-				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);
-			}
-			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);
-	}
+	if (model && model->TraceBox)
+		model->TraceBox(model, bound(0, frame, (model->numframes - 1)), trace, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask);
 	else
-	{
-		// bounding box
+		Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
+	trace->fraction = bound(0, trace->fraction, 1);
+	trace->realfraction = bound(0, trace->realfraction, 1);
 
-		rhc.hull = HullForBBoxEntity (corigin, cmins, cmaxs, mins, maxs, offset);
+	if (trace->fraction < 1)
+	{
+		VectorLerp(start, trace->fraction, end, trace->endpos);
+		VectorCopy(trace->plane.normal, tempnormal);
+		Matrix4x4_Transform3x3(matrix, tempnormal, trace->plane.normal);
+		// FIXME: should recalc trace->plane.dist
+	}
+}
 
-		// 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);
+void Collision_ClipToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontents)
+{
+	memset(trace, 0, sizeof(*trace));
+	trace->fraction = trace->realfraction = 1;
+	if (model && model->TraceBox)
+		model->TraceBox(model, 0, trace, start, mins, maxs, end, hitsupercontents);
+	trace->fraction = bound(0, trace->fraction, 1);
+	trace->realfraction = bound(0, trace->realfraction, 1);
+	VectorLerp(start, trace->fraction, end, trace->endpos);
+}
 
-		// if we hit, store the entity we hit
-		if (rhc.trace->fraction != 1)
-		{
-			// fix offset
-			VectorAdd (rhc.trace->endpos, offset, rhc.trace->endpos);
-			rhc.trace->ent = (void *) cent;
-		}
-		else if (rhc.trace->allsolid || rhc.trace->startsolid)
-			rhc.trace->ent = (void *) cent;
+void Collision_CombineTraces(trace_t *cliptrace, const trace_t *trace, void *touch, qboolean isbmodel)
+{
+	// take the 'best' answers from the new trace and combine with existing data
+	if (trace->allsolid)
+		cliptrace->allsolid = true;
+	if (trace->startsolid)
+	{
+		if (isbmodel)
+			cliptrace->bmodelstartsolid = true;
+		cliptrace->startsolid = true;
+		if (cliptrace->realfraction == 1)
+			cliptrace->ent = touch;
+	}
+	// don't set this except on the world, because it can easily confuse
+	// monsters underwater if there's a bmodel involved in the trace
+	// (inopen && inwater is how they check water visibility)
+	//if (trace->inopen)
+	//	cliptrace->inopen = true;
+	if (trace->inwater)
+		cliptrace->inwater = true;
+	if (trace->realfraction < cliptrace->realfraction)
+	{
+		cliptrace->fraction = trace->fraction;
+		cliptrace->realfraction = trace->realfraction;
+		VectorCopy(trace->endpos, cliptrace->endpos);
+		cliptrace->plane = trace->plane;
+		cliptrace->ent = touch;
+		cliptrace->hitsupercontents = trace->hitsupercontents;
+		cliptrace->hitq3surfaceflags = trace->hitq3surfaceflags;
+		cliptrace->hittexture = trace->hittexture;
 	}
+	cliptrace->startsupercontents |= trace->startsupercontents;
 }