5 #define COLLISION_SNAPSCALE (32.0f)
6 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
7 #define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
8 #define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
10 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
11 cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
12 cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
13 cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
14 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
15 cvar_t collision_prefernudgedfraction = {0, "collision_prefernudgedfraction", "1", "whether to sort collision events by nudged fraction (1) or real fraction (0)"};
17 void Collision_Init (void)
19 Cvar_RegisterVariable(&collision_impactnudge);
20 Cvar_RegisterVariable(&collision_startnudge);
21 Cvar_RegisterVariable(&collision_endnudge);
22 Cvar_RegisterVariable(&collision_enternudge);
23 Cvar_RegisterVariable(&collision_leavenudge);
24 Cvar_RegisterVariable(&collision_prefernudgedfraction);
40 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
43 Con_Printf("3 %s\n%i\n", name, brush->numpoints);
44 for (i = 0;i < brush->numpoints;i++)
45 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
47 Con_Printf("4\n%i\n", brush->numplanes);
48 for (i = 0;i < brush->numplanes;i++)
49 Con_Printf("%f %f %f %f\n", brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist);
52 void Collision_ValidateBrush(colbrushf_t *brush)
54 int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
57 if (!brush->numpoints)
59 Con_Print("Collision_ValidateBrush: brush with no points!\n");
63 // it's ok for a brush to have one point and no planes...
64 if (brush->numplanes == 0 && brush->numpoints != 1)
66 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
73 pointswithinsufficientplanes = 0;
74 for (k = 0;k < brush->numplanes;k++)
75 if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
76 Con_Printf("Collision_ValidateBrush: plane #%i (%f %f %f %f) is degenerate\n", k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
77 for (j = 0;j < brush->numpoints;j++)
80 for (k = 0;k < brush->numplanes;k++)
82 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
83 if (d > COLLISION_PLANE_DIST_EPSILON)
85 Con_Printf("Collision_ValidateBrush: point #%i (%f %f %f) infront of plane #%i (%f %f %f %f)\n", j, brush->points[j].v[0], brush->points[j].v[1], brush->points[j].v[2], k, brush->planes[k].normal[0], brush->planes[k].normal[1], brush->planes[k].normal[2], brush->planes[k].dist);
88 if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
93 if (pointonplanes < 3)
94 pointswithinsufficientplanes++;
96 if (pointswithinsufficientplanes)
98 Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
101 if (pointsoffplanes == 0) // all points are on all planes
103 Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
108 Collision_PrintBrushAsQHull(brush, "unnamed");
111 float nearestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
113 float dist, bestdist;
116 bestdist = DotProduct(points->v, normal);
120 dist = DotProduct(points->v, normal);
121 bestdist = min(bestdist, dist);
127 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
129 float dist, bestdist;
132 bestdist = DotProduct(points->v, normal);
136 dist = DotProduct(points->v, normal);
137 bestdist = max(bestdist, dist);
144 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents)
146 // TODO: planesbuf could be replaced by a remapping table
147 int j, k, m, w, xyzflags;
148 int numpointsbuf = 0, maxpointsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
151 colpointf_t pointsbuf[256];
152 colplanef_t planesbuf[256];
153 int elementsbuf[1024];
154 int polypointbuf[256];
159 // enable these if debugging to avoid seeing garbage in unused data
160 memset(pointsbuf, 0, sizeof(pointsbuf));
161 memset(planesbuf, 0, sizeof(planesbuf));
162 memset(elementsbuf, 0, sizeof(elementsbuf));
163 memset(polypointbuf, 0, sizeof(polypointbuf));
164 memset(p, 0, sizeof(p));
166 // figure out how large a bounding box we need to properly compute this brush
168 for (j = 0;j < numoriginalplanes;j++)
169 maxdist = max(maxdist, fabs(originalplanes[j].dist));
170 // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
171 maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
172 // construct a collision brush (points, planes, and renderable mesh) from
173 // a set of planes, this also optimizes out any unnecessary planes (ones
174 // whose polygon is clipped away by the other planes)
175 for (j = 0;j < numoriginalplanes;j++)
177 // add the plane uniquely (no duplicates)
178 for (k = 0;k < numplanesbuf;k++)
179 if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
181 // if the plane is a duplicate, skip it
182 if (k < numplanesbuf)
184 // check if there are too many and skip the brush
185 if (numplanesbuf >= maxplanesbuf)
187 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
192 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
193 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
194 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
195 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
198 // create a large polygon from the plane
200 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
202 // clip it by all other planes
203 for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
205 // skip the plane this polygon
206 // (nothing happens if it is processed, this is just an optimization)
209 // we want to keep the inside of the brush plane so we flip
211 PolygonD_Divide(pnumpoints, p[w], -originalplanes[k].normal[0], -originalplanes[k].normal[1], -originalplanes[k].normal[2], -originalplanes[k].dist, COLLISION_PLANE_DIST_EPSILON, pmaxpoints, p[!w], &pnumpoints, 0, NULL, NULL, NULL);
216 // if nothing is left, skip it
219 //Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon for plane %f %f %f %f clipped away\n", originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist);
223 for (k = 0;k < pnumpoints;k++)
227 for (l = 0;l < numoriginalplanes;l++)
228 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
235 Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
239 // check if there are too many polygon vertices for buffer
240 if (pnumpoints > pmaxpoints)
242 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
246 // check if there are too many triangle elements for buffer
247 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
249 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
253 for (k = 0;k < pnumpoints;k++)
256 // downgrade to float precision before comparing
257 VectorCopy(&p[w][k*3], v);
259 // check if there is already a matching point (no duplicates)
260 for (m = 0;m < numpointsbuf;m++)
261 if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
264 // if there is no match, add a new one
265 if (m == numpointsbuf)
267 // check if there are too many and skip the brush
268 if (numpointsbuf >= maxpointsbuf)
270 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
274 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
278 // store the index into a buffer
282 // add the triangles for the polygon
283 // (this particular code makes a triangle fan)
284 for (k = 0;k < pnumpoints - 2;k++)
286 elementsbuf[numelementsbuf++] = polypointbuf[0];
287 elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
288 elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
292 // if nothing is left, there's nothing to allocate
293 if (numplanesbuf < 4)
295 Con_DPrintf("Collision_NewBrushFromPlanes: failed to build collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
299 // if no triangles or points could be constructed, then this routine failed but the brush is not discarded
300 if (numelementsbuf < 12 || numpointsbuf < 4)
301 Con_DPrintf("Collision_NewBrushFromPlanes: unable to rebuild triangles/points for collision brush: %i triangles, %i planes (input was %i planes), %i vertices\n", numelementsbuf / 3, numplanesbuf, numoriginalplanes, numpointsbuf);
303 // validate plane distances
304 for (j = 0;j < numplanesbuf;j++)
306 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
307 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
308 Con_DPrintf("plane %f %f %f %f mismatches dist %f\n", planesbuf[j].normal[0], planesbuf[j].normal[1], planesbuf[j].normal[2], planesbuf[j].dist, d);
311 // allocate the brush and copy to it
312 brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
313 brush->supercontents = supercontents;
314 brush->numplanes = numplanesbuf;
315 brush->numpoints = numpointsbuf;
316 brush->numtriangles = numelementsbuf / 3;
317 brush->planes = (colplanef_t *)(brush + 1);
318 brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
319 brush->elements = (int *)(brush->points + brush->numpoints);
320 for (j = 0;j < brush->numpoints;j++)
322 brush->points[j].v[0] = pointsbuf[j].v[0];
323 brush->points[j].v[1] = pointsbuf[j].v[1];
324 brush->points[j].v[2] = pointsbuf[j].v[2];
326 for (j = 0;j < brush->numplanes;j++)
328 brush->planes[j].normal[0] = planesbuf[j].normal[0];
329 brush->planes[j].normal[1] = planesbuf[j].normal[1];
330 brush->planes[j].normal[2] = planesbuf[j].normal[2];
331 brush->planes[j].dist = planesbuf[j].dist;
332 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
333 brush->planes[j].texture = planesbuf[j].texture;
335 for (j = 0;j < brush->numtriangles * 3;j++)
336 brush->elements[j] = elementsbuf[j];
339 VectorClear(brush->mins);
340 VectorClear(brush->maxs);
341 for (j = 0;j < min(6, numoriginalplanes);j++)
343 if (originalplanes[j].normal[0] == 1) {xyzflags |= 1;brush->maxs[0] = originalplanes[j].dist;}
344 else if (originalplanes[j].normal[0] == -1) {xyzflags |= 2;brush->mins[0] = -originalplanes[j].dist;}
345 else if (originalplanes[j].normal[1] == 1) {xyzflags |= 4;brush->maxs[1] = originalplanes[j].dist;}
346 else if (originalplanes[j].normal[1] == -1) {xyzflags |= 8;brush->mins[1] = -originalplanes[j].dist;}
347 else if (originalplanes[j].normal[2] == 1) {xyzflags |= 16;brush->maxs[2] = originalplanes[j].dist;}
348 else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
350 // if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
351 // (this case works for any brush with valid points, but sometimes brushes are not reconstructed properly and hence the points are not valid, so this is reserved as a fallback case)
354 VectorCopy(brush->points[0].v, brush->mins);
355 VectorCopy(brush->points[0].v, brush->maxs);
356 for (j = 1;j < brush->numpoints;j++)
358 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
359 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
360 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
361 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
362 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
363 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
372 Collision_ValidateBrush(brush);
378 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
381 float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
384 // FIXME: these probably don't actually need to be normalized if the collision code does not care
385 if (brush->numpoints == 3)
387 // optimized triangle case
388 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
389 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
391 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
392 brush->numplanes = 0;
397 brush->numplanes = 5;
398 VectorNormalize(brush->planes[0].normal);
399 brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
400 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
401 brush->planes[1].dist = -brush->planes[0].dist;
402 VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
403 VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
404 VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
407 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
409 float dist, bestdist;
410 bestdist = fabs(brush->planes[0].normal[0]);
412 for (i = 1;i < 3;i++)
414 dist = fabs(brush->planes[0].normal[i]);
421 VectorClear(projectionnormal);
422 if (brush->planes[0].normal[best] < 0)
423 projectionnormal[best] = -1;
425 projectionnormal[best] = 1;
426 VectorCopy(edge0, projectionedge0);
427 VectorCopy(edge1, projectionedge1);
428 VectorCopy(edge2, projectionedge2);
429 projectionedge0[best] = 0;
430 projectionedge1[best] = 0;
431 projectionedge2[best] = 0;
432 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
433 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
434 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
437 CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
438 CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
439 CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
441 VectorNormalize(brush->planes[2].normal);
442 VectorNormalize(brush->planes[3].normal);
443 VectorNormalize(brush->planes[4].normal);
444 brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
445 brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
446 brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
448 if (developer.integer >= 100)
454 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
455 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
456 CrossProduct(edge0, edge1, normal);
457 VectorNormalize(normal);
458 VectorSubtract(normal, brush->planes[0].normal, temp);
459 if (VectorLength(temp) > 0.01f)
460 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: TriangleNormal gave wrong answer (%f %f %f != correct answer %f %f %f)\n", brush->planes->normal[0], brush->planes->normal[1], brush->planes->normal[2], normal[0], normal[1], normal[2]);
461 if (fabs(DotProduct(brush->planes[1].normal, brush->planes[0].normal) - -1.0f) > 0.01f || fabs(brush->planes[1].dist - -brush->planes[0].dist) > 0.01f)
462 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 1 (%f %f %f %f) is not opposite plane 0 (%f %f %f %f)\n", brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
464 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
465 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[2].dist);
466 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
467 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[3].dist);
468 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
469 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to plane 0 (%f %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[4].dist);
470 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
471 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 2 (%f %f %f %f) is not perpendicular to edge 0 (%f %f %f to %f %f %f)\n", brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist, brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2]);
472 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
473 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 3 (%f %f %f %f) is not perpendicular to edge 1 (%f %f %f to %f %f %f)\n", brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist, brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2]);
474 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
475 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: plane 4 (%f %f %f %f) is not perpendicular to edge 2 (%f %f %f to %f %f %f)\n", brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist, brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2]);
478 if (fabs(DotProduct(brush->points[0].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[0].normal) - brush->planes[0].dist) > 0.01f)
479 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off front plane 0 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[0].normal[0], brush->planes[0].normal[1], brush->planes[0].normal[2], brush->planes[0].dist);
480 if (fabs(DotProduct(brush->points[0].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[1].normal) - brush->planes[1].dist) > 0.01f)
481 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edges (%f %f %f to %f %f %f to %f %f %f) off back plane 1 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[1].normal[0], brush->planes[1].normal[1], brush->planes[1].normal[2], brush->planes[1].dist);
482 if (fabs(DotProduct(brush->points[2].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f || fabs(DotProduct(brush->points[0].v, brush->planes[2].normal) - brush->planes[2].dist) > 0.01f)
483 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->planes[2].normal[0], brush->planes[2].normal[1], brush->planes[2].normal[2], brush->planes[2].dist);
484 if (fabs(DotProduct(brush->points[0].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f || fabs(DotProduct(brush->points[1].v, brush->planes[3].normal) - brush->planes[3].dist) > 0.01f)
485 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[0].v[0], brush->points[0].v[1], brush->points[0].v[2], brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->planes[3].normal[0], brush->planes[3].normal[1], brush->planes[3].normal[2], brush->planes[3].dist);
486 if (fabs(DotProduct(brush->points[1].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f || fabs(DotProduct(brush->points[2].v, brush->planes[4].normal) - brush->planes[4].dist) > 0.01f)
487 Con_Printf("Collision_CalcPlanesForPolygonBrushFloat: edge 0 (%f %f %f to %f %f %f) off front plane 2 (%f %f %f %f)\n", brush->points[1].v[0], brush->points[1].v[1], brush->points[1].v[2], brush->points[2].v[0], brush->points[2].v[1], brush->points[2].v[2], brush->planes[4].normal[0], brush->planes[4].normal[1], brush->planes[4].normal[2], brush->planes[4].dist);
493 // choose best surface normal for polygon's plane
495 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
497 VectorSubtract(p[-1].v, p[0].v, edge0);
498 VectorSubtract(p[1].v, p[0].v, edge1);
499 CrossProduct(edge0, edge1, normal);
500 //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
501 dist = DotProduct(normal, normal);
502 if (i == 0 || bestdist < dist)
505 VectorCopy(normal, brush->planes->normal);
508 if (bestdist < 0.0001f)
510 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
511 brush->numplanes = 0;
516 brush->numplanes = brush->numpoints + 2;
517 VectorNormalize(brush->planes->normal);
518 brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
520 // negate plane to create other side
521 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
522 brush->planes[1].dist = -brush->planes[0].dist;
523 for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
525 VectorSubtract(p->v, p2->v, edge0);
526 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
527 VectorNormalize(brush->planes[i + 2].normal);
528 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
533 if (developer.integer >= 100)
535 // validity check - will be disabled later
536 Collision_ValidateBrush(brush);
537 for (i = 0;i < brush->numplanes;i++)
540 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
541 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
542 Con_Printf("Error in brush plane generation, plane %i\n", i);
547 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents)
550 brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2));
551 brush->supercontents = supercontents;
552 brush->numpoints = numpoints;
553 brush->numplanes = numpoints + 2;
554 brush->planes = (colplanef_t *)(brush + 1);
555 brush->points = (colpointf_t *)points;
556 Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
560 // NOTE: start and end of each brush pair must have same numplanes/numpoints
561 void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
563 int nplane, nplane2, hitq3surfaceflags = 0;
564 float enterfrac = -1, leavefrac = 1, d1, d2, s, e, ie, f, imove, enterfrac2 = -1;
565 const colplanef_t *startplane, *endplane;
566 plane_t newimpactplane;
567 texture_t *hittexture = NULL;
569 VectorClear(newimpactplane.normal);
570 newimpactplane.dist = 0;
572 for (nplane = 0;nplane < thatbrush_start->numplanes + thisbrush_start->numplanes;nplane++)
575 if (nplane2 >= thatbrush_start->numplanes)
577 nplane2 -= thatbrush_start->numplanes;
578 startplane = thisbrush_start->planes + nplane2;
579 endplane = thisbrush_end->planes + nplane2;
580 if (developer.integer >= 100)
582 // any brush with degenerate planes is not worth handling
583 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
585 Con_Print("Collision_TraceBrushBrushFloat: degenerate thisbrush plane!\n");
588 f = furthestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints);
589 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
590 Con_Printf("startplane->dist %f != calculated %f (thisbrush_start)\n", startplane->dist, f);
592 s = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
593 e = furthestplanedist_float(endplane->normal, thatbrush_end->points, thatbrush_end->numpoints);
594 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - s - collision_startnudge.value;
595 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - e - collision_endnudge.value;
599 startplane = thatbrush_start->planes + nplane2;
600 endplane = thatbrush_end->planes + nplane2;
601 if (developer.integer >= 100)
603 // any brush with degenerate planes is not worth handling
604 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
606 Con_Print("Collision_TraceBrushBrushFloat: degenerate thatbrush plane!\n");
609 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
610 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
611 Con_Printf("startplane->dist %f != calculated %f (thatbrush_start)\n", startplane->dist, f);
613 s = startplane->dist;
615 d1 = nearestplanedist_float(startplane->normal, thisbrush_start->points, thisbrush_start->numpoints) - s - collision_startnudge.value;
616 d2 = nearestplanedist_float(endplane->normal, thisbrush_end->points, thisbrush_end->numpoints) - e - collision_endnudge.value;
618 //Con_Printf("%c%i: d1 = %f, d2 = %f, d1 / (d1 - d2) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, d1, d2, d1 / (d1 - d2));
623 if (d2 >= collision_enternudge.value)
628 imove = 1 / (d1 - d2);
629 f = (d1 - collision_enternudge.value) * imove;
632 // check if this will reduce the collision time range
635 // reduced collision time range
637 // if the collision time range is now empty, no collision
638 if (enterfrac > leavefrac)
640 // if the collision would be further away than the trace's
641 // existing collision data, we don't care about this
643 if (enterfrac > trace->realfraction)
645 // calculate the nudged fraction and impact normal we'll
646 // need if we accept this collision later
647 enterfrac2 = (d1 - collision_impactnudge.value) * imove;
648 ie = 1.0f - enterfrac;
649 newimpactplane.normal[0] = startplane->normal[0] * ie + endplane->normal[0] * enterfrac;
650 newimpactplane.normal[1] = startplane->normal[1] * ie + endplane->normal[1] * enterfrac;
651 newimpactplane.normal[2] = startplane->normal[2] * ie + endplane->normal[2] * enterfrac;
652 newimpactplane.dist = s * ie + e * enterfrac;
653 hitq3surfaceflags = startplane->q3surfaceflags;
654 hittexture = startplane->texture;
660 // moving out of brush
666 f = (d1 + collision_leavenudge.value) / (d1 - d2);
669 // check if this will reduce the collision time range
672 // reduced collision time range
674 // if the collision time range is now empty, no collision
675 if (enterfrac > leavefrac)
682 // at this point we know the trace overlaps the brush because it was not
683 // rejected at any point in the loop above
685 // see if the trace started outside the brush or not
688 // started outside, and overlaps, therefore there is a collision here
689 // store out the impact information
690 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
692 trace->hitsupercontents = thatbrush_start->supercontents;
693 trace->hitq3surfaceflags = hitq3surfaceflags;
694 trace->hittexture = hittexture;
695 trace->realfraction = bound(0, enterfrac, 1);
696 trace->fraction = bound(0, enterfrac2, 1);
697 if (collision_prefernudgedfraction.integer)
698 trace->realfraction = trace->fraction;
699 trace->plane = newimpactplane;
704 // started inside, update startsolid and friends
705 trace->startsupercontents |= thatbrush_start->supercontents;
706 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
708 trace->startsolid = true;
710 trace->allsolid = true;
711 trace->plane = newimpactplane;
716 // NOTE: start and end brush pair must have same numplanes/numpoints
717 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *thatbrush_start, const colbrushf_t *thatbrush_end)
719 int nplane, hitq3surfaceflags = 0;
720 float enterfrac = -1, leavefrac = 1, d1, d2, ie, f, imove, enterfrac2 = -1;
721 const colplanef_t *startplane, *endplane;
722 plane_t newimpactplane;
723 texture_t *hittexture = NULL;
725 VectorClear(newimpactplane.normal);
726 newimpactplane.dist = 0;
728 for (nplane = 0;nplane < thatbrush_start->numplanes;nplane++)
730 startplane = thatbrush_start->planes + nplane;
731 endplane = thatbrush_end->planes + nplane;
732 d1 = DotProduct(startplane->normal, linestart) - startplane->dist - collision_startnudge.value;
733 d2 = DotProduct(endplane->normal, lineend) - endplane->dist - collision_endnudge.value;
734 if (developer.integer >= 100)
736 // any brush with degenerate planes is not worth handling
737 if (DotProduct(startplane->normal, startplane->normal) < 0.9f || DotProduct(endplane->normal, endplane->normal) < 0.9f)
739 Con_Print("Collision_TraceLineBrushFloat: degenerate plane!\n");
742 if (thatbrush_start->numpoints)
744 f = furthestplanedist_float(startplane->normal, thatbrush_start->points, thatbrush_start->numpoints);
745 if (fabs(f - startplane->dist) > COLLISION_PLANE_DIST_EPSILON)
746 Con_Printf("startplane->dist %f != calculated %f\n", startplane->dist, f);
753 if (d2 >= collision_enternudge.value)
758 imove = 1 / (d1 - d2);
759 f = (d1 - collision_enternudge.value) * imove;
762 // check if this will reduce the collision time range
765 // reduced collision time range
767 // if the collision time range is now empty, no collision
768 if (enterfrac > leavefrac)
770 // if the collision would be further away than the trace's
771 // existing collision data, we don't care about this
773 if (enterfrac > trace->realfraction)
775 // calculate the nudged fraction and impact normal we'll
776 // need if we accept this collision later
777 enterfrac2 = (d1 - collision_impactnudge.value) * imove;
778 ie = 1.0f - enterfrac;
779 newimpactplane.normal[0] = startplane->normal[0] * ie + endplane->normal[0] * enterfrac;
780 newimpactplane.normal[1] = startplane->normal[1] * ie + endplane->normal[1] * enterfrac;
781 newimpactplane.normal[2] = startplane->normal[2] * ie + endplane->normal[2] * enterfrac;
782 newimpactplane.dist = startplane->dist * ie + endplane->dist * enterfrac;
783 hitq3surfaceflags = startplane->q3surfaceflags;
784 hittexture = startplane->texture;
790 // moving out of brush
796 f = (d1 + collision_leavenudge.value) / (d1 - d2);
797 // check if this will reduce the collision time range
800 // reduced collision time range
802 // if the collision time range is now empty, no collision
803 if (enterfrac > leavefrac)
810 // at this point we know the trace overlaps the brush because it was not
811 // rejected at any point in the loop above
813 // see if the trace started outside the brush or not
816 // started outside, and overlaps, therefore there is a collision here
817 // store out the impact information
818 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
820 trace->hitsupercontents = thatbrush_start->supercontents;
821 trace->hitq3surfaceflags = hitq3surfaceflags;
822 trace->hittexture = hittexture;
823 trace->realfraction = bound(0, enterfrac, 1);
824 trace->fraction = bound(0, enterfrac2, 1);
825 if (collision_prefernudgedfraction.integer)
826 trace->realfraction = trace->fraction;
827 trace->plane = newimpactplane;
832 // started inside, update startsolid and friends
833 trace->startsupercontents |= thatbrush_start->supercontents;
834 if (trace->hitsupercontentsmask & thatbrush_start->supercontents)
836 trace->startsolid = true;
838 trace->allsolid = true;
839 trace->plane = newimpactplane;
844 qboolean Collision_PointInsideBrushFloat(const vec3_t point, const colbrushf_t *brush)
847 const colplanef_t *plane;
849 if (!BoxesOverlap(point, point, brush->mins, brush->maxs))
851 for (nplane = 0, plane = brush->planes;nplane < brush->numplanes;nplane++, plane++)
852 if (DotProduct(plane->normal, point) > plane->dist)
857 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
859 if (!Collision_PointInsideBrushFloat(point, thatbrush))
862 trace->startsupercontents |= thatbrush->supercontents;
863 if (trace->hitsupercontentsmask & thatbrush->supercontents)
865 trace->startsolid = true;
866 trace->allsolid = true;
870 static colpointf_t polyf_points[256];
871 static colplanef_t polyf_planes[256 + 2];
872 static colbrushf_t polyf_brush;
874 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
877 for (i = 0;i < numpoints;i++)
879 out[i].v[0] = floor(in[i].v[0] * fractionprecision + 0.5f) * invfractionprecision;
880 out[i].v[1] = floor(in[i].v[1] * fractionprecision + 0.5f) * invfractionprecision;
881 out[i].v[2] = floor(in[i].v[2] * fractionprecision + 0.5f) * invfractionprecision;
885 void Collision_TraceBrushPolygonFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, int supercontents)
889 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
892 polyf_brush.numpoints = numpoints;
893 polyf_brush.numplanes = numpoints + 2;
894 //polyf_brush.points = (colpointf_t *)points;
895 polyf_brush.planes = polyf_planes;
896 polyf_brush.supercontents = supercontents;
897 polyf_brush.points = polyf_points;
898 Collision_SnapCopyPoints(polyf_brush.numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
899 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
900 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
901 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
904 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)
907 polyf_brush.numpoints = 3;
908 polyf_brush.numplanes = 5;
909 polyf_brush.points = polyf_points;
910 polyf_brush.planes = polyf_planes;
911 polyf_brush.supercontents = supercontents;
912 for (i = 0;i < polyf_brush.numplanes;i++)
914 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
915 polyf_brush.planes[i].texture = texture;
917 for (i = 0;i < numtriangles;i++, element3i += 3)
919 if (TriangleOverlapsBox(vertex3f + element3i[0]*3, vertex3f + element3i[1]*3, vertex3f + element3i[2]*3, segmentmins, segmentmaxs))
921 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
922 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
923 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
924 Collision_SnapCopyPoints(polyf_brush.numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
925 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
926 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
927 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brush, &polyf_brush);
932 void Collision_TraceLinePolygonFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numpoints, const float *points, int supercontents)
936 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
939 polyf_brush.numpoints = numpoints;
940 polyf_brush.numplanes = numpoints + 2;
941 //polyf_brush.points = (colpointf_t *)points;
942 polyf_brush.points = polyf_points;
943 Collision_SnapCopyPoints(polyf_brush.numpoints, (colpointf_t *)points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
944 polyf_brush.planes = polyf_planes;
945 polyf_brush.supercontents = supercontents;
946 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
947 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
948 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
951 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)
955 // FIXME: snap vertices?
956 for (i = 0;i < numtriangles;i++, element3i += 3)
957 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
959 polyf_brush.numpoints = 3;
960 polyf_brush.numplanes = 5;
961 polyf_brush.points = polyf_points;
962 polyf_brush.planes = polyf_planes;
963 polyf_brush.supercontents = supercontents;
964 for (i = 0;i < polyf_brush.numplanes;i++)
966 polyf_brush.planes[i].supercontents = supercontents;
967 polyf_brush.planes[i].q3surfaceflags = q3surfaceflags;
968 polyf_brush.planes[i].texture = texture;
970 for (i = 0;i < numtriangles;i++, element3i += 3)
972 if (TriangleOverlapsBox(vertex3f + element3i[0]*3, vertex3 + [element3i[1]*3, vertex3f + element3i[2]*3, segmentmins, segmentmaxs))
974 VectorCopy(vertex3f + element3i[0] * 3, polyf_points[0].v);
975 VectorCopy(vertex3f + element3i[1] * 3, polyf_points[1].v);
976 VectorCopy(vertex3f + element3i[2] * 3, polyf_points[2].v);
977 Collision_SnapCopyPoints(polyf_brush.numpoints, polyf_points, polyf_points, COLLISION_SNAPSCALE, COLLISION_SNAP);
978 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brush);
979 //Collision_PrintBrushAsQHull(&polyf_brush, "polyf_brush");
980 Collision_TraceLineBrushFloat(trace, linestart, lineend, &polyf_brush, &polyf_brush);
987 static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
988 static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
989 static colbrushf_t polyf_brushstart, polyf_brushend;
991 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)
996 Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
999 polyf_brushstart.numpoints = numpoints;
1000 polyf_brushstart.numplanes = numpoints + 2;
1001 polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
1002 polyf_brushstart.planes = polyf_planesstart;
1003 polyf_brushstart.supercontents = supercontents;
1004 for (i = 0;i < numpoints;i++)
1005 Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
1006 polyf_brushend.numpoints = numpoints;
1007 polyf_brushend.numplanes = numpoints + 2;
1008 polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
1009 polyf_brushend.planes = polyf_planesend;
1010 polyf_brushend.supercontents = supercontents;
1011 for (i = 0;i < numpoints;i++)
1012 Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
1013 for (i = 0;i < polyf_brushstart.numplanes;i++)
1015 polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
1016 polyf_brushstart.planes[i].texture = texture;
1018 Collision_SnapCopyPoints(polyf_brushstart.numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
1019 Collision_SnapCopyPoints(polyf_brushend.numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
1020 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
1021 Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
1023 //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
1024 //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
1026 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
1031 #define MAX_BRUSHFORBOX 16
1032 static unsigned int brushforbox_index = 0;
1033 // note: this relies on integer overflow to be consistent with modulo
1034 // MAX_BRUSHFORBOX, or in other words, MAX_BRUSHFORBOX must be a power of two!
1035 static colpointf_t brushforbox_point[MAX_BRUSHFORBOX*8];
1036 static colplanef_t brushforbox_plane[MAX_BRUSHFORBOX*6];
1037 static colbrushf_t brushforbox_brush[MAX_BRUSHFORBOX];
1038 static colbrushf_t brushforpoint_brush[MAX_BRUSHFORBOX];
1040 void Collision_InitBrushForBox(void)
1043 for (i = 0;i < MAX_BRUSHFORBOX;i++)
1045 brushforbox_brush[i].numpoints = 8;
1046 brushforbox_brush[i].numplanes = 6;
1047 brushforbox_brush[i].points = brushforbox_point + i * 8;
1048 brushforbox_brush[i].planes = brushforbox_plane + i * 6;
1049 brushforpoint_brush[i].numpoints = 1;
1050 brushforpoint_brush[i].numplanes = 0;
1051 brushforpoint_brush[i].points = brushforbox_point + i * 8;
1052 brushforpoint_brush[i].planes = brushforbox_plane + i * 6;
1056 colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
1061 if (brushforbox_brush[0].numpoints == 0)
1062 Collision_InitBrushForBox();
1063 // FIXME: these probably don't actually need to be normalized if the collision code does not care
1064 if (VectorCompare(mins, maxs))
1067 brush = brushforpoint_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1068 VectorCopy(mins, brush->points->v);
1072 brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
1074 for (i = 0;i < 8;i++)
1076 v[0] = i & 1 ? maxs[0] : mins[0];
1077 v[1] = i & 2 ? maxs[1] : mins[1];
1078 v[2] = i & 4 ? maxs[2] : mins[2];
1079 Matrix4x4_Transform(matrix, v, brush->points[i].v);
1082 for (i = 0;i < 6;i++)
1085 v[i >> 1] = i & 1 ? 1 : -1;
1086 Matrix4x4_Transform3x3(matrix, v, brush->planes[i].normal);
1087 VectorNormalize(brush->planes[i].normal);
1090 brush->supercontents = supercontents;
1091 for (j = 0;j < brush->numplanes;j++)
1093 brush->planes[j].q3surfaceflags = q3surfaceflags;
1094 brush->planes[j].texture = texture;
1095 brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
1097 VectorCopy(brush->points[0].v, brush->mins);
1098 VectorCopy(brush->points[0].v, brush->maxs);
1099 for (j = 1;j < brush->numpoints;j++)
1101 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
1102 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
1103 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
1104 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
1105 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
1106 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
1108 brush->mins[0] -= 1;
1109 brush->mins[1] -= 1;
1110 brush->mins[2] -= 1;
1111 brush->maxs[0] += 1;
1112 brush->maxs[1] += 1;
1113 brush->maxs[2] += 1;
1114 Collision_ValidateBrush(brush);
1118 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)
1120 colbrushf_t *boxbrush, *thisbrush_start, *thisbrush_end;
1121 vec3_t startmins, startmaxs, endmins, endmaxs;
1123 // create brushes for the collision
1124 VectorAdd(start, mins, startmins);
1125 VectorAdd(start, maxs, startmaxs);
1126 VectorAdd(end, mins, endmins);
1127 VectorAdd(end, maxs, endmaxs);
1128 boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1129 thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
1130 thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
1132 memset(trace, 0, sizeof(trace_t));
1133 trace->hitsupercontentsmask = hitsupercontentsmask;
1134 trace->fraction = 1;
1135 trace->realfraction = 1;
1136 trace->allsolid = true;
1137 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, boxbrush, boxbrush);
1140 //pseudocode for detecting line/sphere overlap without calculating an impact point
1141 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1143 // LordHavoc: currently unused, but tested
1144 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1145 // by simply adding the moving sphere's radius to the sphereradius parameter,
1146 // all the results are correct (impactpoint, impactnormal, and fraction)
1147 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1149 double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1150 // make sure the impactpoint and impactnormal are valid even if there is
1152 VectorCopy(lineend, impactpoint);
1153 VectorClear(impactnormal);
1154 // calculate line direction
1155 VectorSubtract(lineend, linestart, dir);
1156 // normalize direction
1157 linelength = VectorLength(dir);
1160 scale = 1.0 / linelength;
1161 VectorScale(dir, scale, dir);
1163 // this dotproduct calculates the distance along the line at which the
1164 // sphere origin is (nearest point to the sphere origin on the line)
1165 impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1166 // calculate point on line at that distance, and subtract the
1167 // sphereorigin from it, so we have a vector to measure for the distance
1168 // of the line from the sphereorigin (deviation, how off-center it is)
1169 VectorMA(linestart, impactdist, dir, v);
1170 VectorSubtract(v, sphereorigin, v);
1171 deviationdist = VectorLength2(v);
1172 // if outside the radius, it's a miss for sure
1173 // (we do this comparison using squared radius to avoid a sqrt)
1174 if (deviationdist > sphereradius*sphereradius)
1175 return 1; // miss (off to the side)
1176 // nudge back to find the correct impact distance
1177 impactdist -= sphereradius - deviationdist/sphereradius;
1178 if (impactdist >= linelength)
1179 return 1; // miss (not close enough)
1181 return 1; // miss (linestart is past or inside sphere)
1182 // calculate new impactpoint
1183 VectorMA(linestart, impactdist, dir, impactpoint);
1184 // calculate impactnormal (surface normal at point of impact)
1185 VectorSubtract(impactpoint, sphereorigin, impactnormal);
1186 // normalize impactnormal
1187 VectorNormalize(impactnormal);
1188 // return fraction of movement distance
1189 return impactdist / linelength;
1192 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)
1196 float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1198 // this function executes:
1199 // 32 ops when line starts behind triangle
1200 // 38 ops when line ends infront of triangle
1201 // 43 ops when line fraction is already closer than this triangle
1202 // 72 ops when line is outside edge 01
1203 // 92 ops when line is outside edge 21
1204 // 115 ops when line is outside edge 02
1205 // 123 ops when line impacts triangle and updates trace results
1207 // this code is designed for clockwise triangles, conversion to
1208 // counterclockwise would require swapping some things around...
1209 // it is easier to simply swap the point0 and point2 parameters to this
1210 // function when calling it than it is to rewire the internals.
1212 // calculate the faceplanenormal of the triangle, this represents the front side
1214 VectorSubtract(point0, point1, edge01);
1215 VectorSubtract(point2, point1, edge21);
1216 CrossProduct(edge01, edge21, faceplanenormal);
1217 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1219 faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1220 if (faceplanenormallength2 < 0.0001f)
1222 // calculate the distance
1224 faceplanedist = DotProduct(point0, faceplanenormal);
1226 // if start point is on the back side there is no collision
1227 // (we don't care about traces going through the triangle the wrong way)
1229 // calculate the start distance
1231 d1 = DotProduct(faceplanenormal, linestart);
1232 if (d1 <= faceplanedist)
1235 // calculate the end distance
1237 d2 = DotProduct(faceplanenormal, lineend);
1238 // if both are in front, there is no collision
1239 if (d2 >= faceplanedist)
1242 // from here on we know d1 is >= 0 and d2 is < 0
1243 // this means the line starts infront and ends behind, passing through it
1245 // calculate the recipricol of the distance delta,
1246 // so we can use it multiple times cheaply (instead of division)
1248 d = 1.0f / (d1 - d2);
1249 // calculate the impact fraction by taking the start distance (> 0)
1250 // and subtracting the face plane distance (this is the distance of the
1251 // triangle along that same normal)
1252 // then multiply by the recipricol distance delta
1254 f = (d1 - faceplanedist) * d;
1255 // skip out if this impact is further away than previous ones
1257 if (f > trace->realfraction)
1259 // calculate the perfect impact point for classification of insidedness
1261 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1262 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1263 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1265 // calculate the edge normal and reject if impact is outside triangle
1266 // (an edge normal faces away from the triangle, to get the desired normal
1267 // a crossproduct with the faceplanenormal is used, and because of the way
1268 // the insidedness comparison is written it does not need to be normalized)
1270 // first use the two edges from the triangle plane math
1271 // the other edge only gets calculated if the point survives that long
1274 CrossProduct(edge01, faceplanenormal, edgenormal);
1275 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1279 CrossProduct(faceplanenormal, edge21, edgenormal);
1280 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1284 VectorSubtract(point0, point2, edge02);
1285 CrossProduct(faceplanenormal, edge02, edgenormal);
1286 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1291 // store the new trace fraction
1292 trace->realfraction = f;
1294 // calculate a nudged fraction to keep it out of the surface
1295 // (the main fraction remains perfect)
1296 trace->fraction = f - collision_impactnudge.value * d;
1298 if (collision_prefernudgedfraction.integer)
1299 trace->realfraction = trace->fraction;
1301 // store the new trace plane (because collisions only happen from
1302 // the front this is always simply the triangle normal, never flipped)
1303 d = 1.0 / sqrt(faceplanenormallength2);
1304 VectorScale(faceplanenormal, d, trace->plane.normal);
1305 trace->plane.dist = faceplanedist * d;
1307 trace->hitsupercontents = supercontents;
1308 trace->hitq3surfaceflags = q3surfaceflags;
1309 trace->hittexture = texture;
1311 float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1313 // this code is designed for clockwise triangles, conversion to
1314 // counterclockwise would require swapping some things around...
1315 // it is easier to simply swap the point0 and point2 parameters to this
1316 // function when calling it than it is to rewire the internals.
1318 // calculate the unnormalized faceplanenormal of the triangle,
1319 // this represents the front side
1320 TriangleNormal(point0, point1, point2, faceplanenormal);
1321 // there's no point in processing a degenerate triangle
1322 // (GIGO - Garbage In, Garbage Out)
1323 if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1325 // calculate the unnormalized distance
1326 faceplanedist = DotProduct(point0, faceplanenormal);
1328 // calculate the unnormalized start distance
1329 d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1330 // if start point is on the back side there is no collision
1331 // (we don't care about traces going through the triangle the wrong way)
1335 // calculate the unnormalized end distance
1336 d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1337 // if both are in front, there is no collision
1341 // from here on we know d1 is >= 0 and d2 is < 0
1342 // this means the line starts infront and ends behind, passing through it
1344 // calculate the recipricol of the distance delta,
1345 // so we can use it multiple times cheaply (instead of division)
1346 d = 1.0f / (d1 - d2);
1347 // calculate the impact fraction by taking the start distance (> 0)
1348 // and subtracting the face plane distance (this is the distance of the
1349 // triangle along that same normal)
1350 // then multiply by the recipricol distance delta
1352 // skip out if this impact is further away than previous ones
1353 if (f > trace->realfraction)
1355 // calculate the perfect impact point for classification of insidedness
1356 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1357 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1358 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1360 // calculate the edge normal and reject if impact is outside triangle
1361 // (an edge normal faces away from the triangle, to get the desired normal
1362 // a crossproduct with the faceplanenormal is used, and because of the way
1363 // the insidedness comparison is written it does not need to be normalized)
1365 VectorSubtract(point2, point0, edge);
1366 CrossProduct(edge, faceplanenormal, edgenormal);
1367 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1370 VectorSubtract(point0, point1, edge);
1371 CrossProduct(edge, faceplanenormal, edgenormal);
1372 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1375 VectorSubtract(point1, point2, edge);
1376 CrossProduct(edge, faceplanenormal, edgenormal);
1377 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1380 // store the new trace fraction
1381 trace->realfraction = bound(0, f, 1);
1383 // store the new trace plane (because collisions only happen from
1384 // the front this is always simply the triangle normal, never flipped)
1385 VectorNormalize(faceplanenormal);
1386 VectorCopy(faceplanenormal, trace->plane.normal);
1387 trace->plane.dist = DotProduct(point0, faceplanenormal);
1389 // calculate the normalized start and end distances
1390 d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1391 d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1393 // calculate a nudged fraction to keep it out of the surface
1394 // (the main fraction remains perfect)
1395 fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1396 trace->fraction = bound(0, fnudged, 1);
1398 // store the new trace endpos
1399 // not needed, it's calculated later when the trace is finished
1400 //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1401 //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1402 //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1403 trace->hitsupercontents = supercontents;
1404 trace->hitq3surfaceflags = q3surfaceflags;
1405 trace->hittexture = texture;
1409 typedef struct colbspnode_s
1412 struct colbspnode_s *children[2];
1413 // the node is reallocated or split if max is reached
1416 colbrushf_t **colbrushflist;
1419 //colbrushd_t **colbrushdlist;
1423 typedef struct colbsp_s
1426 colbspnode_t *nodes;
1430 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1433 bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1434 bsp->mempool = mempool;
1435 bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1439 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1441 if (node->children[0])
1442 Collision_FreeCollisionBSPNode(node->children[0]);
1443 if (node->children[1])
1444 Collision_FreeCollisionBSPNode(node->children[1]);
1445 while (--node->numcolbrushf)
1446 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1447 //while (--node->numcolbrushd)
1448 // Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1452 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1454 Collision_FreeCollisionBSPNode(bsp->nodes);
1458 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1461 colpointf_t *ps, *pe;
1462 float tempstart[3], tempend[3];
1463 VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1464 VectorCopy(mins, maxs);
1465 for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1467 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1468 VectorLerp(ps->v, endfrac, pe->v, tempend);
1469 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1470 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1471 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1472 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1473 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1474 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1484 //===========================================
1486 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)
1488 float starttransformed[3], endtransformed[3];
1490 memset(trace, 0, sizeof(*trace));
1491 trace->fraction = trace->realfraction = 1;
1492 VectorCopy(end, trace->endpos);
1494 Matrix4x4_Transform(inversematrix, start, starttransformed);
1495 Matrix4x4_Transform(inversematrix, end, endtransformed);
1496 #if COLLISIONPARANOID >= 3
1497 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]);
1500 if (model && model->TraceBox)
1501 model->TraceBox(model, bound(0, frame, (model->numframes - 1)), trace, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask);
1503 Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
1504 trace->fraction = bound(0, trace->fraction, 1);
1505 trace->realfraction = bound(0, trace->realfraction, 1);
1507 VectorLerp(start, trace->fraction, end, trace->endpos);
1509 // NOTE: this relies on plane.dist being directly after plane.normal
1510 Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
1513 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)
1515 memset(trace, 0, sizeof(*trace));
1516 trace->fraction = trace->realfraction = 1;
1517 if (model && model->TraceBox)
1518 model->TraceBox(model, 0, trace, start, mins, maxs, end, hitsupercontents);
1519 trace->fraction = bound(0, trace->fraction, 1);
1520 trace->realfraction = bound(0, trace->realfraction, 1);
1521 VectorLerp(start, trace->fraction, end, trace->endpos);
1524 void Collision_CombineTraces(trace_t *cliptrace, const trace_t *trace, void *touch, qboolean isbmodel)
1526 // take the 'best' answers from the new trace and combine with existing data
1527 if (trace->allsolid)
1528 cliptrace->allsolid = true;
1529 if (trace->startsolid)
1532 cliptrace->bmodelstartsolid = true;
1533 cliptrace->startsolid = true;
1534 if (cliptrace->realfraction == 1)
1535 cliptrace->ent = touch;
1537 // don't set this except on the world, because it can easily confuse
1538 // monsters underwater if there's a bmodel involved in the trace
1539 // (inopen && inwater is how they check water visibility)
1540 //if (trace->inopen)
1541 // cliptrace->inopen = true;
1543 cliptrace->inwater = true;
1544 if ((trace->realfraction <= cliptrace->realfraction) && (VectorLength2(trace->plane->normal) > 0))
1546 cliptrace->fraction = trace->fraction;
1547 cliptrace->realfraction = trace->realfraction;
1548 VectorCopy(trace->endpos, cliptrace->endpos);
1549 cliptrace->plane = trace->plane;
1550 cliptrace->ent = touch;
1551 cliptrace->hitsupercontents = trace->hitsupercontents;
1552 cliptrace->hitq3surfaceflags = trace->hitq3surfaceflags;
1553 cliptrace->hittexture = trace->hittexture;
1555 cliptrace->startsupercontents |= trace->startsupercontents;