5 #define COLLISION_SNAPSCALE (32.0f)
6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
8 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125"};
9 cvar_t collision_startnudge = {0, "collision_startnudge", "0"};
10 cvar_t collision_endnudge = {0, "collision_endnudge", "0"};
11 cvar_t collision_enternudge = {0, "collision_enternudge", "0"};
12 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0"};
17 // the hull we're tracing through
20 // the trace structure to fill in
23 // start and end of the trace (in model space)
30 // overrides the CONTENTS_SOLID in the box bsp tree
33 RecursiveHullCheckTraceInfo_t;
35 #define HULLCHECKSTATE_EMPTY 0
36 #define HULLCHECKSTATE_SOLID 1
37 #define HULLCHECKSTATE_DONE 2
39 static int RecursiveHullCheck(RecursiveHullCheckTraceInfo_t *t, int num, double p1f, double p2f, double p1[3], double p2[3])
41 // status variables, these don't need to be saved on the stack when
42 // recursing... but are because this should be thread-safe
43 // (note: tracing against a bbox is not thread-safe, yet)
48 // variables that need to be stored on the stack when recursing
53 // LordHavoc: a goto! everyone flee in terror... :)
58 num = Mod_Q1BSP_SuperContentsFromNativeContents(NULL, num);
59 if (!t->trace->startfound)
61 t->trace->startfound = true;
62 t->trace->startsupercontents |= num;
64 if (num & SUPERCONTENTS_LIQUIDSMASK)
65 t->trace->inwater = true;
67 t->trace->inopen = true;
68 if (num & t->trace->hitsupercontentsmask)
70 // if the first leaf is solid, set startsolid
71 if (t->trace->allsolid)
72 t->trace->startsolid = true;
73 #if COLLISIONPARANOID >= 3
76 return HULLCHECKSTATE_SOLID;
80 t->trace->allsolid = false;
81 #if COLLISIONPARANOID >= 3
84 return HULLCHECKSTATE_EMPTY;
88 // find the point distances
89 node = t->hull->clipnodes + num;
91 plane = t->hull->planes + node->planenum;
94 t1 = p1[plane->type] - plane->dist;
95 t2 = p2[plane->type] - plane->dist;
99 t1 = DotProduct (plane->normal, p1) - plane->dist;
100 t2 = DotProduct (plane->normal, p2) - plane->dist;
107 #if COLLISIONPARANOID >= 3
110 num = node->children[1];
119 #if COLLISIONPARANOID >= 3
122 num = node->children[0];
128 // the line intersects, find intersection point
129 // LordHavoc: this uses the original trace for maximum accuracy
130 #if COLLISIONPARANOID >= 3
135 t1 = t->start[plane->type] - plane->dist;
136 t2 = t->end[plane->type] - plane->dist;
140 t1 = DotProduct (plane->normal, t->start) - plane->dist;
141 t2 = DotProduct (plane->normal, t->end) - plane->dist;
144 midf = t1 / (t1 - t2);
145 midf = bound(p1f, midf, p2f);
146 VectorMA(t->start, midf, t->dist, mid);
148 // recurse both sides, front side first
149 ret = RecursiveHullCheck (t, node->children[side], p1f, midf, p1, mid);
150 // if this side is not empty, return what it is (solid or done)
151 if (ret != HULLCHECKSTATE_EMPTY)
154 ret = RecursiveHullCheck (t, node->children[side ^ 1], midf, p2f, mid, p2);
155 // if other side is not solid, return what it is (empty or done)
156 if (ret != HULLCHECKSTATE_SOLID)
159 // front is air and back is solid, this is the impact point...
162 t->trace->plane.dist = -plane->dist;
163 VectorNegate (plane->normal, t->trace->plane.normal);
167 t->trace->plane.dist = plane->dist;
168 VectorCopy (plane->normal, t->trace->plane.normal);
171 // calculate the true fraction
172 t1 = DotProduct(t->trace->plane.normal, t->start) - t->trace->plane.dist - collision_startnudge.value;
173 t2 = DotProduct(t->trace->plane.normal, t->end) - t->trace->plane.dist - collision_endnudge.value;
174 midf = t1 / (t1 - t2);
175 t->trace->realfraction = bound(0, midf, 1);
177 // calculate the return fraction which is nudged off the surface a bit
178 midf = (t1 - collision_impactnudge.value) / (t1 - t2);
179 t->trace->fraction = bound(0, midf, 1);
181 #if COLLISIONPARANOID >= 3
184 return HULLCHECKSTATE_DONE;
188 // used if start and end are the same
189 static void RecursiveHullCheckPoint (RecursiveHullCheckTraceInfo_t *t, int num)
191 // If you can read this, you understand BSP trees
193 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];
196 t->trace->endcontents = num;
197 if (t->trace->thiscontents)
199 if (num == t->trace->thiscontents)
200 t->trace->allsolid = false;
203 // if the first leaf is solid, set startsolid
204 if (t->trace->allsolid)
205 t->trace->startsolid = true;
210 if (num != CONTENTS_SOLID)
212 t->trace->allsolid = false;
213 if (num == CONTENTS_EMPTY)
214 t->trace->inopen = true;
216 t->trace->inwater = true;
220 // if the first leaf is solid, set startsolid
221 if (t->trace->allsolid)
222 t->trace->startsolid = true;
228 static hull_t box_hull;
229 static dclipnode_t box_clipnodes[6];
230 static mplane_t box_planes[6];
232 void Mod_Q1BSP_Collision_Init (void)
237 //Set up the planes and clipnodes so that the six floats of a bounding box
238 //can just be stored out and get a proper hull_t structure.
240 box_hull.clipnodes = box_clipnodes;
241 box_hull.planes = box_planes;
242 box_hull.firstclipnode = 0;
243 box_hull.lastclipnode = 5;
245 for (i = 0;i < 6;i++)
247 box_clipnodes[i].planenum = i;
251 box_clipnodes[i].children[side] = CONTENTS_EMPTY;
253 box_clipnodes[i].children[side^1] = i + 1;
255 box_clipnodes[i].children[side^1] = CONTENTS_SOLID;
257 box_planes[i].type = i>>1;
258 box_planes[i].normal[i>>1] = 1;
262 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)
264 RecursiveHullCheckTraceInfo_t rhc;
265 // fill in a default trace
266 memset(&rhc, 0, sizeof(rhc));
267 memset(trace, 0, sizeof(trace_t));
268 //To keep everything totally uniform, bounding boxes are turned into small
269 //BSP trees instead of being compared directly.
270 // create a temp hull from bounding box sizes
271 box_planes[0].dist = cmaxs[0] - mins[0];
272 box_planes[1].dist = cmins[0] - maxs[0];
273 box_planes[2].dist = cmaxs[1] - mins[1];
274 box_planes[3].dist = cmins[1] - maxs[1];
275 box_planes[4].dist = cmaxs[2] - mins[2];
276 box_planes[5].dist = cmins[2] - maxs[2];
277 // trace a line through the generated clipping hull
278 rhc.boxsupercontents = boxsupercontents;
279 rhc.hull = &box_hull;
281 rhc.trace->hitsupercontentsmask = hitsupercontentsmask;
282 rhc.trace->fraction = 1;
283 rhc.trace->realfraction = 1;
284 rhc.trace->allsolid = true;
285 VectorCopy(start, rhc.start);
286 VectorCopy(end, rhc.end);
287 VectorSubtract(rhc.end, rhc.start, rhc.dist);
288 Mod_Q1BSP_RecursiveHullCheck(&rhc, rhc.hull->firstclipnode, 0, 1, rhc.start, rhc.end);
289 VectorMA(rhc.start, rhc.trace->fraction, rhc.dist, rhc.trace->endpos);
290 if (rhc.trace->startsupercontents)
291 rhc.trace->startsupercontents = boxsupercontents;
295 void Collision_Init (void)
297 Cvar_RegisterVariable(&collision_impactnudge);
298 Cvar_RegisterVariable(&collision_startnudge);
299 Cvar_RegisterVariable(&collision_endnudge);
300 Cvar_RegisterVariable(&collision_enternudge);
301 Cvar_RegisterVariable(&collision_leavenudge);
317 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
320 Con_Printf("3 %s\n%i\n", name, brush->numpoints);
321 for (i = 0;i < brush->numpoints;i++)
322 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
324 Con_Printf("4\n%i\n", brush->numplanes);
325 for (i = 0;i < brush->numplanes;i++)
326 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);
329 void Collision_ValidateBrush(colbrushf_t *brush)
331 int j, k, pointsoffplanes, printbrush;
334 if (!brush->numpoints)
336 Con_Print("Collision_ValidateBrush: brush with no points!\n");
340 // it's ok for a brush to have one point and no planes...
341 if (brush->numplanes == 0 && brush->numpoints != 1)
343 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
347 if (brush->numplanes)
350 for (k = 0;k < brush->numplanes;k++)
352 if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
353 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);
354 for (j = 0;j < brush->numpoints;j++)
356 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
357 if (d > (1.0f / 8.0f))
359 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);
366 if (pointsoffplanes == 0) // all points are on all planes
368 Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
373 Collision_PrintBrushAsQHull(brush, "unnamed");
376 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
378 float dist, bestdist;
379 bestdist = DotProduct(points->v, normal);
383 dist = DotProduct(points->v, normal);
384 bestdist = min(bestdist, dist);
390 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
392 float dist, bestdist;
393 bestdist = DotProduct(points->v, normal);
397 dist = DotProduct(points->v, normal);
398 bestdist = max(bestdist, dist);
405 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const mplane_t *originalplanes, int supercontents, winding_t *temp1, winding_t *temp2)
408 int numpoints, maxpoints, numplanes, maxplanes, numelements, maxelements, numtriangles, numpolypoints, maxpolypoints;
409 winding_t *w, *temp, *othertemp;
411 colpointf_t pointsbuf[256];
412 colplanef_t planesbuf[256];
413 int elementsbuf[1024];
414 int polypointbuf[256];
415 // construct a collision brush (points, planes, and renderable mesh) from
416 // a set of planes, this also optimizes out any unnecessary planes (ones
417 // whose polygon is clipped away by the other planes)
418 numpoints = 0;maxpoints = 256;
419 numplanes = 0;maxplanes = 256;
420 numelements = 0;maxelements = 1024;
423 for (j = 0;j < numoriginalplanes;j++)
425 // add the plane uniquely (no duplicates)
426 for (k = 0;k < numplanes;k++)
427 if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
429 // if the plane is a duplicate, skip it
432 // check if there are too many and skip the brush
433 if (numplanes >= 256)
435 Con_Print("Mod_Q3BSP_LoadBrushes: failed to build collision brush: too many planes for buffer\n");
439 // create a large polygon from the plane
442 BufWinding_NewFromPlane(w, originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
443 // clip it by all other planes
444 for (k = 0;k < numoriginalplanes && w->numpoints;k++)
448 // we want to keep the inside of the brush plane so we flip
450 BufWinding_Divide(w, -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, othertemp, NULL, NULL, NULL);
456 // if nothing is left, skip it
460 // copy off the number of points for later when the winding is freed
461 numpolypoints = w->numpoints;
463 // check if there are too many polygon vertices for buffer
464 if (numpolypoints > maxpolypoints)
466 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
470 // check if there are too many triangle elements for buffer
471 if (numelements + (w->numpoints - 2) * 3 > maxelements)
473 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
477 for (k = 0;k < w->numpoints;k++)
479 // check if there is already a matching point (no duplicates)
480 for (m = 0;m < numpoints;m++)
481 if (VectorDistance2(w->points[k], pointsbuf[m].v) < COLLISION_SNAP)
484 // if there is no match, add a new one
487 // check if there are too many and skip the brush
488 if (numpoints >= 256)
490 Con_Print("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
495 VectorCopy(w->points[k], pointsbuf[numpoints].v);
499 // store the index into a buffer
506 // add the triangles for the polygon
507 // (this particular code makes a triangle fan)
508 for (k = 0;k < numpolypoints - 2;k++)
511 elementsbuf[numelements++] = polypointbuf[0];
512 elementsbuf[numelements++] = polypointbuf[k + 1];
513 elementsbuf[numelements++] = polypointbuf[k + 2];
517 VectorCopy(originalplanes[j].normal, planesbuf[numplanes].normal);
518 planesbuf[numplanes].dist = originalplanes[j].dist;
522 // if nothing is left, there's nothing to allocate
523 if (numtriangles < 4 || numplanes < 4 || numpoints < 4)
526 // allocate the brush and copy to it
527 brush = Collision_AllocBrushFloat(mempool, numpoints, numplanes, numtriangles, supercontents);
528 memcpy(brush->points, pointsbuf, numpoints * sizeof(colpointf_t));
529 memcpy(brush->planes, planesbuf, numplanes * sizeof(colplanef_t));
530 memcpy(brush->elements, elementsbuf, numtriangles * sizeof(int[3]));
532 for (j = 0;j < brush->numplanes;j++)
533 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
534 VectorCopy(brush->points[0].v, brush->mins);
535 VectorCopy(brush->points[0].v, brush->maxs);
536 for (j = 1;j < brush->numpoints;j++)
538 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
539 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
540 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
541 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
542 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
543 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
551 Collision_ValidateBrush(brush);
557 colbrushf_t *Collision_AllocBrushFloat(mempool_t *mempool, int numpoints, int numplanes, int numtriangles, int supercontents)
560 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpoints + sizeof(colplanef_t) * numplanes + sizeof(int[3]) * numtriangles);
561 brush->supercontents = supercontents;
562 brush->numplanes = numplanes;
563 brush->numpoints = numpoints;
564 brush->numtriangles = numtriangles;
565 brush->planes = (void *)(brush + 1);
566 brush->points = (void *)(brush->planes + brush->numplanes);
567 brush->elements = (void *)(brush->points + brush->numpoints);
571 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
574 float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist, temp[3];
577 if (brush->numpoints == 3)
579 // optimized triangle case
580 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
581 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
583 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
584 brush->numplanes = 0;
589 brush->numplanes = 5;
590 VectorNormalize(brush->planes[0].normal);
591 brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
592 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
593 brush->planes[1].dist = -brush->planes[0].dist;
594 VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
595 VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
596 VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
599 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
601 float dist, bestdist;
602 bestdist = fabs(brush->planes[0].normal[0]);
604 for (i = 1;i < 3;i++)
606 dist = fabs(brush->planes[0].normal[i]);
613 VectorClear(projectionnormal);
614 if (brush->planes[0].normal[best] < 0)
615 projectionnormal[best] = -1;
617 projectionnormal[best] = 1;
618 VectorCopy(edge0, projectionedge0);
619 VectorCopy(edge1, projectionedge1);
620 VectorCopy(edge2, projectionedge2);
621 projectionedge0[best] = 0;
622 projectionedge1[best] = 0;
623 projectionedge2[best] = 0;
624 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
625 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
626 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
629 CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
630 CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
631 CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
633 VectorNormalize(brush->planes[2].normal);
634 VectorNormalize(brush->planes[3].normal);
635 VectorNormalize(brush->planes[4].normal);
636 brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
637 brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
638 brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
640 if (developer.integer)
643 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
644 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
645 CrossProduct(edge1, edge0, normal);
646 VectorNormalize(normal);
647 VectorSubtract(normal, brush->planes[0].normal, temp);
648 if (VectorLength(temp) > 0.01f)
649 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]);
650 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)
651 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);
653 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
654 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);
655 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
656 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);
657 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
658 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);
659 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
660 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]);
661 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
662 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]);
663 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
664 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]);
666 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)
667 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);
668 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)
669 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);
670 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)
671 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);
672 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)
673 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);
674 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)
675 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);
681 // choose best surface normal for polygon's plane
683 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
685 VectorSubtract(p[-1].v, p[0].v, edge0);
686 VectorSubtract(p[1].v, p[0].v, edge1);
687 CrossProduct(edge0, edge1, normal);
688 //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
689 dist = DotProduct(normal, normal);
690 if (i == 0 || bestdist < dist)
693 VectorCopy(normal, brush->planes->normal);
696 if (bestdist < 0.0001f)
698 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
699 brush->numplanes = 0;
704 brush->numplanes = brush->numpoints + 2;
705 VectorNormalize(brush->planes->normal);
706 brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
708 // negate plane to create other side
709 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
710 brush->planes[1].dist = -brush->planes[0].dist;
711 for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
713 VectorSubtract(p->v, p2->v, edge0);
714 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
715 VectorNormalize(brush->planes[i + 2].normal);
716 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
721 if (developer.integer)
723 // validity check - will be disabled later
724 Collision_ValidateBrush(brush);
725 for (i = 0;i < brush->numplanes;i++)
728 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
729 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + (1.0 / 32.0))
730 Con_Printf("Error in brush plane generation, plane %i\n", i);
735 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
738 brush = Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
739 brush->supercontents = supercontents;
740 brush->numpoints = numpoints;
741 brush->numplanes = numpoints + 2;
742 brush->planes = (void *)(brush + 1);
743 brush->points = (colpointf_t *)points;
744 Host_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...\n");
748 // NOTE: start and end of each brush pair must have same numplanes/numpoints
749 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)
751 int nplane, nplane2, fstartsolid, fendsolid, brushsolid;
752 float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
753 const colplanef_t *startplane, *endplane;
761 for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
764 if (nplane2 >= thatbrush_start->numplanes)
766 nplane2 -= thatbrush_start->numplanes;
767 startplane = thisbrush_start->planes + nplane2;
768 endplane = thisbrush_end->planes + nplane2;
769 if (developer.integer)
771 // any brush with degenerate planes is not worth handling
772 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
774 Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
777 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
778 if (fabs(f - startplane->dist) > 0.01f)
779 Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
781 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints) - collision_startnudge.value;
782 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints) - collision_endnudge.value;
786 startplane = thatbrush_start->planes + nplane2;
787 endplane = thatbrush_end->planes + nplane2;
788 if (developer.integer)
790 // any brush with degenerate planes is not worth handling
791 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
793 Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
796 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
797 if (fabs(f - startplane->dist) > 0.01f)
798 Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
800 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - startplane->dist - collision_startnudge.value;
801 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - endplane->dist - collision_endnudge.value;
803 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
809 if (d2 > collision_enternudge.value)
816 f = (d1 - collision_enternudge.value) * imove;
821 enterfrac2 = f - collision_impactnudge.value * imove;
822 enterfrac2 = bound(0, enterfrac2, 1);
823 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
828 // moving out of brush
829 if (d1 > collision_leavenudge.value)
835 f = (d1 + collision_leavenudge.value) / move;
842 // sliding along plane
848 brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
851 trace->startsupercontents |= thatbrush_start->supercontents;
854 trace->startsolid = true;
856 trace->allsolid = true;
860 // LordHavoc: we need an epsilon nudge here because for a point trace the
861 // penetrating line segment is normally zero length if this brush was
862 // generated from a polygon (infinitely thin), and could even be slightly
863 // positive or negative due to rounding errors in that case.
864 if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
868 if (thatbrush_start->ispolygon)
870 d1 = nearestplanedist_float(thatbrush_start->planes[0].normal, thisbrush_start->points, thisbrush_start->numpoints) - thatbrush_start->planes[0].dist - collision_startnudge.value;
871 d2 = nearestplanedist_float(thatbrush_end->planes[0].normal, thisbrush_end->points, thisbrush_end->numpoints) - thatbrush_end->planes[0].dist - collision_endnudge.value;
873 if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
877 enterfrac = (d1 - collision_enternudge.value) * imove;
878 if (enterfrac < trace->realfraction)
880 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
881 trace->realfraction = bound(0, enterfrac, 1);
882 trace->fraction = bound(0, enterfrac2, 1);
883 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
889 trace->realfraction = bound(0, enterfrac, 1);
890 trace->fraction = bound(0, enterfrac2, 1);
891 VectorCopy(newimpactnormal, trace->plane.normal);
896 // NOTE: start and end brush pair must have same numplanes/numpoints
897 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
899 int nplane, fstartsolid, fendsolid, brushsolid;
900 float enterfrac, leavefrac, d1, d2, f, move, imove, newimpactnormal[3], enterfrac2;
901 const colplanef_t *startplane, *endplane;
909 for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
911 startplane = thatbrush_start->planes + nplane;
912 endplane = thatbrush_end->planes + nplane;
913 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
914 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
915 if (developer.integer)
917 // any brush with degenerate planes is not worth handling
918 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
920 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
923 if (thatbrush_start->numpoints)
925 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
926 if (fabs(f - startplane->dist) > 0.01f)
927 Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
942 f = (d1 - collision_enternudge.value) * imove;
946 enterfrac2 = f - collision_impactnudge.value * imove;
947 VectorLerp(startplane->normal, enterfrac, endplane->normal, newimpactnormal);
952 // moving out of brush
959 f = (d1 - collision_leavenudge.value) / move;
965 brushsolid = trace->hitsupercontentsmask & thatbrush_start->supercontents;
968 trace->startsupercontents |= thatbrush_start->supercontents;
971 trace->startsolid = true;
973 trace->allsolid = true;
977 // LordHavoc: we need an epsilon nudge here because for a point trace the
978 // penetrating line segment is normally zero length if this brush was
979 // generated from a polygon (infinitely thin), and could even be slightly
980 // positive or negative due to rounding errors in that case.
981 if (brushsolid && enterfrac > -1 && enterfrac < trace->realfraction && enterfrac - (1.0f / 1024.0f) <= leavefrac)
985 if (thatbrush_start->ispolygon)
987 d1 = DotProduct(thatbrush_start->planes[0].normal, linestart) - thatbrush_start->planes[0].dist - collision_startnudge.value;
988 d2 = DotProduct(thatbrush_end->planes[0].normal, lineend) - thatbrush_end->planes[0].dist - collision_endnudge.value;
990 if (move <= 0 || d2 > collision_enternudge.value || d1 < 0)
994 enterfrac = (d1 - collision_enternudge.value) * imove;
995 if (enterfrac < trace->realfraction)
997 enterfrac2 = enterfrac - collision_impactnudge.value * imove;
998 trace->realfraction = bound(0, enterfrac, 1);
999 trace->fraction = bound(0, enterfrac2, 1);
1000 VectorLerp(thatbrush_start->planes[0].normal, enterfrac, thatbrush_end->planes[0].normal, trace->plane.normal);
1006 trace->realfraction = bound(0, enterfrac, 1);
1007 trace->fraction = bound(0, enterfrac2, 1);
1008 VectorCopy(newimpactnormal, trace->plane.normal);
1013 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
1016 const colplanef_t *plane;
1018 for (nplane = 0, plane = thatbrush->planes;nplane < thatbrush->numplanes;nplane++, plane++)
1019 if (DotProduct(plane->normal, point) > plane->dist)
1022 trace->startsupercontents |= thatbrush->supercontents;
1023 if (trace->hitsupercontentsmask & thatbrush->supercontents)
1025 trace->startsolid = true;
1026 trace->allsolid = true;
1030 static colpointf_t polyf_points[256];
1031 static colplanef_t polyf_planes[256 + 2];
1032 static colbrushf_t polyf_brush;
1034 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
1038 out->v[0] = floor(in->v[0] * fractionprecision + 0.5f) * invfractionprecision;
1039 out->v[1] = floor(in->v[1] * fractionprecision + 0.5f) * invfractionprecision;
1040 out->v[2] = floor(in->v[2] * fractionprecision + 0.5f) * invfractionprecision;
1044 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
1046 if (numpoints > 256)
1048 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1051 polyf_brush.numpoints = numpoints;
1052 polyf_brush.numplanes = numpoints + 2;
1053 //polyf_brush.points = (colpointf_t *)points;
1054 polyf_brush.planes = polyf_planes;
1055 polyf_brush.supercontents = supercontents;
1056 polyf_brush.points = polyf_points;
1057 Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1058 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1059 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1060 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
1063 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)
1066 float facemins[3], facemaxs[3];
1067 polyf_brush.numpoints = 3;
1068 polyf_brush.numplanes = 5;
1069 polyf_brush.points = polyf_points;
1070 polyf_brush.planes = polyf_planes;
1071 polyf_brush.supercontents = supercontents;
1072 for (i = 0;i < numtriangles;i++, element3i += 3)
1074 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
1075 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
1076 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
1077 Collision_SnapCopyPoints(3, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1078 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
1079 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
1080 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
1081 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
1082 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
1083 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
1084 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
1086 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1087 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1088 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
1093 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
1095 if (numpoints > 256)
1097 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1100 polyf_brush.numpoints = numpoints;
1101 polyf_brush.numplanes = numpoints + 2;
1102 //polyf_brush.points = (colpointf_t *)points;
1103 polyf_brush.points = polyf_points;
1104 Collision_SnapCopyPoints(numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1105 polyf_brush.planes = polyf_planes;
1106 polyf_brush.supercontents = supercontents;
1107 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1108 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1109 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
1112 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)
1116 // FIXME: snap vertices?
1117 for (i = 0;i < numtriangles;i++, element3i += 3)
1118 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3);
1120 polyf_brush.numpoints = 3;
1121 polyf_brush.numplanes = 5;
1122 polyf_brush.points = polyf_points;
1123 polyf_brush.planes = polyf_planes;
1124 polyf_brush.supercontents = supercontents;
1125 for (i = 0;i < numtriangles;i++, element3i += 3)
1127 float facemins[3], facemaxs[3];
1128 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
1129 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
1130 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
1131 Collision_SnapCopyPoints(numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1132 facemins[0] = min(polyf_points[0].v[0], min(polyf_points[1].v[0], polyf_points[2].v[0])) - 1;
1133 facemins[1] = min(polyf_points[0].v[1], min(polyf_points[1].v[1], polyf_points[2].v[1])) - 1;
1134 facemins[2] = min(polyf_points[0].v[2], min(polyf_points[1].v[2], polyf_points[2].v[2])) - 1;
1135 facemaxs[0] = max(polyf_points[0].v[0], max(polyf_points[1].v[0], polyf_points[2].v[0])) + 1;
1136 facemaxs[1] = max(polyf_points[0].v[1], max(polyf_points[1].v[1], polyf_points[2].v[1])) + 1;
1137 facemaxs[2] = max(polyf_points[0].v[2], max(polyf_points[1].v[2], polyf_points[2].v[2])) + 1;
1138 if (BoxesOverlap(segmentmins, segmentmaxs, facemins, facemaxs))
1140 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
1141 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
1142 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
1149 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
1150 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
1151 static colbrushf_t polyf_brushstart, polyf_brushend;
1153 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)
1156 if (numpoints > 256)
1158 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
1161 polyf_brushstart.numpoints = numpoints;
1162 polyf_brushstart.numplanes = numpoints + 2;
1163 polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
1164 polyf_brushstart.planes = polyf_planesstart;
1165 polyf_brushstart.supercontents = supercontents;
1166 for (i = 0;i < numpoints;i++)
1167 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
1168 polyf_brushend.numpoints = numpoints;
1169 polyf_brushend.numplanes = numpoints + 2;
1170 polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
1171 polyf_brushend.planes = polyf_planesend;
1172 polyf_brushend.supercontents = supercontents;
1173 for (i = 0;i < numpoints;i++)
1174 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
1175 Collision_SnapCopyPoints(numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
1176 Collision_SnapCopyPoints(numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
1177 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
1178 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
1180 //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1181 //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1183 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1188 #define MAX_BRUSHFORBOX 16
1189 static int brushforbox_index = 0;
1190 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1191 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1192 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1193 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1195 void Collision_InitBrushForBox(void)
1198 for (i = 0;i < MAX_BRUSHFORBOX;i++)
1200 brushforbox_brush[i].supercontents = SUPERCONTENTS_SOLID;
1201 brushforbox_brush[i].numpoints = 8;
1202 brushforbox_brush[i].numplanes = 6;
1203 brushforbox_brush[i].points = brushforbox_point + i * 8;
1204 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1205 brushforpoint_brush[i].supercontents = SUPERCONTENTS_SOLID;
1206 brushforpoint_brush[i].numpoints = 1;
1207 brushforpoint_brush[i].numplanes = 0;
1208 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1209 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1213 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs)
1218 if (brushforbox_brush[0].numpoints == 0)
1219 Collision_InitBrushForBox();
1220 if (VectorCompare(mins, maxs))
1223 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1224 VectorCopy(mins, brush->points->v);
1228 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1230 for (i = 0;i < 8;i++)
1232 v[0] = i & 1 ? maxs[0] : mins[0];
1233 v[1] = i & 2 ? maxs[1] : mins[1];
1234 v[2] = i & 4 ? maxs[2] : mins[2];
1235 Matrix4x4_Transform(matrix, v, brush->points[i].v);
1238 for (i = 0;i < 6;i++)
1241 v[i >> 1] = i & 1 ? 1 : -1;
1242 Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1243 VectorNormalize(brush->planes[i].normal);
1246 for (j = 0;j < brush->numplanes;j++)
1247 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1248 VectorCopy(brush->points[0].v, brush->mins);
1249 VectorCopy(brush->points[0].v, brush->maxs);
1250 for (j = 1;j < brush->numpoints;j++)
1252 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1253 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1254 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1255 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1256 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1257 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1259 brush->mins[0] -= 1;
1260 brush->mins[1] -= 1;
1261 brush->mins[2] -= 1;
1262 brush->maxs[0] += 1;
1263 brush->maxs[1] += 1;
1264 brush->maxs[2] += 1;
1265 Collision_ValidateBrush(brush);
1269 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)
1271 colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1272 matrix4x4_t identitymatrix;
1273 vec3_t startmins, startmaxs, endmins, endmaxs;
1275 // create brushes for the collision
1276 VectorAdd(start, mins, startmins);
1277 VectorAdd(start, maxs, startmaxs);
1278 VectorAdd(end, mins, endmins);
1279 VectorAdd(end, maxs, endmaxs);
1280 Matrix4x4_CreateIdentity(&identitymatrix);
1281 boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs);
1282 thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs);
1283 thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs);
1285 memset(trace, 0, sizeof(trace_t));
1286 trace->hitsupercontentsmask = hitsupercontentsmask;
1287 trace->fraction = 1;
1288 trace->realfraction = 1;
1289 trace->allsolid = true;
1290 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1293 // LordHavoc: currently unused and not yet tested
1294 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1295 // by simply adding the moving sphere's radius to the sphereradius parameter,
1296 // all the results are correct (impactpoint, impactnormal, and fraction)
1297 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1299 double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1300 // make sure the impactpoint and impactnormal are valid even if there is
1302 impactpoint[0] = lineend[0];
1303 impactpoint[1] = lineend[1];
1304 impactpoint[2] = lineend[2];
1305 impactnormal[0] = 0;
1306 impactnormal[1] = 0;
1307 impactnormal[2] = 0;
1308 // calculate line direction
1309 dir[0] = lineend[0] - linestart[0];
1310 dir[1] = lineend[1] - linestart[1];
1311 dir[2] = lineend[2] - linestart[2];
1312 // normalize direction
1313 linelength = sqrt(dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]);
1316 scale = 1.0 / linelength;
1321 // this dotproduct calculates the distance along the line at which the
1322 // sphere origin is (nearest point to the sphere origin on the line)
1323 impactdist = dir[0] * (sphereorigin[0] - linestart[0]) + dir[1] * (sphereorigin[1] - linestart[1]) + dir[2] * (sphereorigin[2] - linestart[2]);
1324 // calculate point on line at that distance, and subtract the
1325 // sphereorigin from it, so we have a vector to measure for the distance
1326 // of the line from the sphereorigin (deviation, how off-center it is)
1327 v[0] = linestart[0] + impactdist * dir[0] - sphereorigin[0];
1328 v[1] = linestart[1] + impactdist * dir[1] - sphereorigin[1];
1329 v[2] = linestart[2] + impactdist * dir[2] - sphereorigin[2];
1330 deviationdist = v[0] * v[0] + v[1] * v[1] + v[2] * v[2];
1331 // if outside the radius, it's a miss for sure
1332 // (we do this comparison using squared radius to avoid a sqrt)
1333 if (deviationdist > sphereradius*sphereradius)
1334 return 1; // miss (off to the side)
1335 // nudge back to find the correct impact distance
1336 impactdist += (sqrt(deviationdist) - sphereradius);
1337 if (impactdist >= linelength)
1338 return 1; // miss (not close enough)
1340 return 1; // miss (linestart is past or inside sphere)
1341 // calculate new impactpoint
1342 impactpoint[0] = linestart[0] + impactdist * dir[0];
1343 impactpoint[1] = linestart[1] + impactdist * dir[1];
1344 impactpoint[2] = linestart[2] + impactdist * dir[2];
1345 // calculate impactnormal (surface normal at point of impact)
1346 impactnormal[0] = impactpoint[0] - sphereorigin[0];
1347 impactnormal[1] = impactpoint[1] - sphereorigin[1];
1348 impactnormal[2] = impactpoint[2] - sphereorigin[2];
1349 // normalize impactnormal
1350 scale = impactnormal[0] * impactnormal[0] + impactnormal[1] * impactnormal[1] + impactnormal[2] * impactnormal[2];
1353 scale = 1.0 / sqrt(scale);
1354 impactnormal[0] *= scale;
1355 impactnormal[1] *= scale;
1356 impactnormal[2] *= scale;
1358 // return fraction of movement distance
1359 return impactdist / linelength;
1362 void Collision_TraceLineTriangleFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const float *point0, const float *point1, const float *point2)
1364 float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1366 // this code is designed for clockwise triangles, conversion to
1367 // counterclockwise would require swapping some things around...
1368 // it is easier to simply swap the point0 and point2 parameters to this
1369 // function when calling it than it is to rewire the internals.
1371 // calculate the faceplanenormal of the triangle, this represents the front side
1372 TriangleNormal(point0, point1, point2, faceplanenormal);
1373 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1374 if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1376 // normalize the normal
1377 VectorNormalize(faceplanenormal);
1378 // calculate the distance
1379 faceplanedist = DotProduct(point0, faceplanenormal);
1381 // calculate the start distance
1382 d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1383 // if start point is on the back side there is no collision
1384 // (we don't care about traces going through the triangle the wrong way)
1388 // calculate the end distance
1389 d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1390 // if both are in front, there is no collision
1394 // from here on we know d1 is >= 0 and d2 is < 0
1395 // this means the line starts infront and ends behind, passing through it
1397 // calculate the recipricol of the distance delta,
1398 // so we can use it multiple times cheaply (instead of division)
1399 d = 1.0f / (d1 - d2);
1400 // calculate the impact fraction by taking the start distance (> 0)
1401 // and subtracting the face plane distance (this is the distance of the
1402 // triangle along that same normal)
1403 // then multiply by the recipricol distance delta
1405 // skip out if this impact is further away than previous ones
1406 if (f > trace->realfraction)
1408 // calculate the perfect impact point for classification of insidedness
1409 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1410 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1411 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1413 // calculate the edge normal and reject if impact is outside triangle
1414 // (an edge normal faces away from the triangle, to get the desired normal
1415 // a crossproduct with the faceplanenormal is used, and because of the way
1416 // the insidedness comparison is written it does not need to be normalized)
1418 VectorSubtract(point2, point0, edge);
1419 CrossProduct(edge, faceplanenormal, edgenormal);
1420 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1423 VectorSubtract(point0, point1, edge);
1424 CrossProduct(edge, faceplanenormal, edgenormal);
1425 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1428 VectorSubtract(point1, point2, edge);
1429 CrossProduct(edge, faceplanenormal, edgenormal);
1430 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1433 // store the new trace fraction
1434 trace->realfraction = bound(0, f, 1);
1436 // calculate a nudged fraction to keep it out of the surface
1437 // (the main fraction remains perfect)
1438 fnudged = (d1 - collision_impactnudge.value) * d;
1439 trace->fraction = bound(0, fnudged, 1);
1441 // store the new trace endpos
1442 // not needed, it's calculated later when the trace is finished
1443 //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1444 //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1445 //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1447 // store the new trace plane (because collisions only happen from
1448 // the front this is always simply the triangle normal, never flipped)
1449 VectorCopy(faceplanenormal, trace->plane.normal);
1450 trace->plane.dist = faceplanedist;
1453 typedef struct colbspnode_s
1456 struct colbspnode_s *children[2];
1457 // the node is reallocated or split if max is reached
1460 colbrushf_t **colbrushflist;
1463 //colbrushd_t **colbrushdlist;
1467 typedef struct colbsp_s
1470 colbspnode_t *nodes;
1474 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1477 bsp = Mem_Alloc(mempool, sizeof(colbsp_t));
1478 bsp->mempool = mempool;
1479 bsp->nodes = Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1483 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1485 if (node->children[0])
1486 Collision_FreeCollisionBSPNode(node->children[0]);
1487 if (node->children[1])
1488 Collision_FreeCollisionBSPNode(node->children[1]);
1489 while (--node->numcolbrushf)
1490 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1491 //while (--node->numcolbrushd)
1492 // Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1496 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1498 Collision_FreeCollisionBSPNode(bsp->nodes);
1502 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1505 colpointf_t *ps, *pe;
1506 float tempstart[3], tempend[3];
1507 VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1508 VectorCopy(mins, maxs);
1509 for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1511 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1512 VectorLerp(ps->v, endfrac, pe->v, tempend);
1513 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1514 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1515 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1516 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1517 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1518 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));