5 #define COLLISION_EDGEDIR_DOT_EPSILON (0.999f)
6 #define COLLISION_EDGECROSS_MINLENGTH2 (1.0f / 4194304.0f)
7 #define COLLISION_SNAPSCALE (32.0f)
8 #define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
9 #define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
10 #define COLLISION_PLANE_DIST_EPSILON (2.0f / COLLISION_SNAPSCALE)
12 cvar_t collision_impactnudge = {0, "collision_impactnudge", "0.03125", "how much to back off from the impact"};
13 cvar_t collision_startnudge = {0, "collision_startnudge", "0", "how much to bias collision trace start"};
14 cvar_t collision_endnudge = {0, "collision_endnudge", "0", "how much to bias collision trace end"};
15 cvar_t collision_enternudge = {0, "collision_enternudge", "0", "how much to bias collision entry fraction"};
16 cvar_t collision_leavenudge = {0, "collision_leavenudge", "0", "how much to bias collision exit fraction"};
17 cvar_t collision_prefernudgedfraction = {0, "collision_prefernudgedfraction", "1", "whether to sort collision events by nudged fraction (1) or real fraction (0)"};
18 #ifdef COLLISION_STUPID_TRACE_ENDPOS_IN_SOLID_WORKAROUND
19 cvar_t collision_endposnudge = {0, "collision_endposnudge", "0", "workaround to fix trace_endpos sometimes being returned where it would be inside solid by making that collision hit (recommended: values like 1)"};
21 cvar_t collision_debug_tracelineasbox = {0, "collision_debug_tracelineasbox", "0", "workaround for any bugs in Collision_TraceLineBrushFloat by using Collision_TraceBrushBrushFloat"};
22 cvar_t collision_cache = {0, "collision_cache", "1", "store results of collision traces for next frame to reuse if possible (optimization)"};
24 mempool_t *collision_mempool;
26 void Collision_Init (void)
28 Cvar_RegisterVariable(&collision_impactnudge);
29 Cvar_RegisterVariable(&collision_startnudge);
30 Cvar_RegisterVariable(&collision_endnudge);
31 Cvar_RegisterVariable(&collision_enternudge);
32 Cvar_RegisterVariable(&collision_leavenudge);
33 Cvar_RegisterVariable(&collision_prefernudgedfraction);
34 #ifdef COLLISION_STUPID_TRACE_ENDPOS_IN_SOLID_WORKAROUND
35 Cvar_RegisterVariable(&collision_endposnudge);
37 Cvar_RegisterVariable(&collision_debug_tracelineasbox);
38 Cvar_RegisterVariable(&collision_cache);
39 collision_mempool = Mem_AllocPool("collision cache", 0, NULL);
40 Collision_Cache_Init(collision_mempool);
56 void Collision_PrintBrushAsQHull(colbrushf_t *brush, const char *name)
59 Con_Printf("3 %s\n%i\n", name, brush->numpoints);
60 for (i = 0;i < brush->numpoints;i++)
61 Con_Printf("%f %f %f\n", brush->points[i].v[0], brush->points[i].v[1], brush->points[i].v[2]);
63 Con_Printf("4\n%i\n", brush->numplanes);
64 for (i = 0;i < brush->numplanes;i++)
65 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);
68 void Collision_ValidateBrush(colbrushf_t *brush)
70 int j, k, pointsoffplanes, pointonplanes, pointswithinsufficientplanes, printbrush;
73 if (!brush->numpoints)
75 Con_Print("Collision_ValidateBrush: brush with no points!\n");
79 // it's ok for a brush to have one point and no planes...
80 if (brush->numplanes == 0 && brush->numpoints != 1)
82 Con_Print("Collision_ValidateBrush: brush with no planes and more than one point!\n");
89 pointswithinsufficientplanes = 0;
90 for (k = 0;k < brush->numplanes;k++)
91 if (DotProduct(brush->planes[k].normal, brush->planes[k].normal) < 0.0001f)
92 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);
93 for (j = 0;j < brush->numpoints;j++)
96 for (k = 0;k < brush->numplanes;k++)
98 d = DotProduct(brush->points[j].v, brush->planes[k].normal) - brush->planes[k].dist;
99 if (d > COLLISION_PLANE_DIST_EPSILON)
101 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);
104 if (fabs(d) > COLLISION_PLANE_DIST_EPSILON)
109 if (pointonplanes < 3)
110 pointswithinsufficientplanes++;
112 if (pointswithinsufficientplanes)
114 Con_Print("Collision_ValidateBrush: some points have insufficient planes, every point must be on at least 3 planes to form a corner.\n");
117 if (pointsoffplanes == 0) // all points are on all planes
119 Con_Print("Collision_ValidateBrush: all points lie on all planes (degenerate, no brush volume!)\n");
124 Collision_PrintBrushAsQHull(brush, "unnamed");
127 float nearestplanedist_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 = min(bestdist, dist);
143 float furthestplanedist_float(const float *normal, const colpointf_t *points, int numpoints)
145 float dist, bestdist;
148 bestdist = DotProduct(points->v, normal);
152 dist = DotProduct(points->v, normal);
153 bestdist = max(bestdist, dist);
159 void Collision_CalcEdgeDirsForPolygonBrushFloat(colbrushf_t *brush)
162 for (i = 0, j = brush->numpoints - 1;i < brush->numpoints;j = i, i++)
163 VectorSubtract(brush->points[i].v, brush->points[j].v, brush->edgedirs[j].v);
166 colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents, int q3surfaceflags, const texture_t *texture, int hasaabbplanes)
168 // TODO: planesbuf could be replaced by a remapping table
169 int j, k, l, m, w, xyzflags;
170 int numpointsbuf = 0, maxpointsbuf = 256, numedgedirsbuf = 0, maxedgedirsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
174 colpointf_t pointsbuf[256];
175 colpointf_t edgedirsbuf[256];
176 colplanef_t planesbuf[256];
177 int elementsbuf[1024];
178 int polypointbuf[256];
183 // enable these if debugging to avoid seeing garbage in unused data-
184 memset(pointsbuf, 0, sizeof(pointsbuf));
185 memset(edgedirsbuf, 0, sizeof(edgedirsbuf));
186 memset(planesbuf, 0, sizeof(planesbuf));
187 memset(elementsbuf, 0, sizeof(elementsbuf));
188 memset(polypointbuf, 0, sizeof(polypointbuf));
189 memset(p, 0, sizeof(p));
192 // check if there are too many planes and skip the brush
193 if (numoriginalplanes >= maxplanesbuf)
195 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
199 // figure out how large a bounding box we need to properly compute this brush
201 for (j = 0;j < numoriginalplanes;j++)
202 maxdist = max(maxdist, fabs(originalplanes[j].dist));
203 // now make it large enough to enclose the entire brush, and round it off to a reasonable multiple of 1024
204 maxdist = floor(maxdist * (4.0 / 1024.0) + 2) * 1024.0;
205 // construct a collision brush (points, planes, and renderable mesh) from
206 // a set of planes, this also optimizes out any unnecessary planes (ones
207 // whose polygon is clipped away by the other planes)
208 for (j = 0;j < numoriginalplanes;j++)
211 VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
212 planesbuf[numplanesbuf].dist = originalplanes[j].dist;
213 planesbuf[numplanesbuf].q3surfaceflags = originalplanes[j].q3surfaceflags;
214 planesbuf[numplanesbuf].texture = originalplanes[j].texture;
217 // create a large polygon from the plane
219 PolygonD_QuadForPlane(p[w], originalplanes[j].normal[0], originalplanes[j].normal[1], originalplanes[j].normal[2], originalplanes[j].dist, maxdist);
221 // clip it by all other planes
222 for (k = 0;k < numoriginalplanes && pnumpoints >= 3 && pnumpoints <= pmaxpoints;k++)
224 // skip the plane this polygon
225 // (nothing happens if it is processed, this is just an optimization)
228 // we want to keep the inside of the brush plane so we flip
230 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);
235 // if nothing is left, skip it
238 //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);
242 for (k = 0;k < pnumpoints;k++)
246 for (l = 0;l < numoriginalplanes;l++)
247 if (fabs(DotProduct(&p[w][k*3], originalplanes[l].normal) - originalplanes[l].dist) < COLLISION_PLANE_DIST_EPSILON)
254 Con_DPrintf("Collision_NewBrushFromPlanes: warning: polygon point does not lie on at least 3 planes\n");
258 // check if there are too many polygon vertices for buffer
259 if (pnumpoints > pmaxpoints)
261 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
265 // check if there are too many triangle elements for buffer
266 if (numelementsbuf + (pnumpoints - 2) * 3 > maxelementsbuf)
268 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many triangle elements for buffer\n");
272 // add the unique points for this polygon
273 for (k = 0;k < pnumpoints;k++)
276 // downgrade to float precision before comparing
277 VectorCopy(&p[w][k*3], v);
279 // check if there is already a matching point (no duplicates)
280 for (m = 0;m < numpointsbuf;m++)
281 if (VectorDistance2(v, pointsbuf[m].v) < COLLISION_SNAP2)
284 // if there is no match, add a new one
285 if (m == numpointsbuf)
287 // check if there are too many and skip the brush
288 if (numpointsbuf >= maxpointsbuf)
290 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many points for buffer\n");
294 VectorCopy(&p[w][k*3], pointsbuf[numpointsbuf].v);
298 // store the index into a buffer
302 // add the triangles for the polygon
303 // (this particular code makes a triangle fan)
304 for (k = 0;k < pnumpoints - 2;k++)
306 elementsbuf[numelementsbuf++] = polypointbuf[0];
307 elementsbuf[numelementsbuf++] = polypointbuf[k + 1];
308 elementsbuf[numelementsbuf++] = polypointbuf[k + 2];
311 // add the unique edgedirs for this polygon
312 for (k = 0, l = pnumpoints-1;k < pnumpoints;l = k, k++)
315 // downgrade to float precision before comparing
316 VectorSubtract(&p[w][k*3], &p[w][l*3], dir);
317 VectorNormalize(dir);
319 // check if there is already a matching edgedir (no duplicates)
320 for (m = 0;m < numedgedirsbuf;m++)
321 if (DotProduct(dir, edgedirsbuf[m].v) >= COLLISION_EDGEDIR_DOT_EPSILON)
323 // skip this if there is
324 if (m < numedgedirsbuf)
327 // try again with negated edgedir
328 VectorNegate(dir, dir);
329 // check if there is already a matching edgedir (no duplicates)
330 for (m = 0;m < numedgedirsbuf;m++)
331 if (DotProduct(dir, edgedirsbuf[m].v) >= COLLISION_EDGEDIR_DOT_EPSILON)
333 // if there is no match, add a new one
334 if (m == numedgedirsbuf)
336 // check if there are too many and skip the brush
337 if (numedgedirsbuf >= maxedgedirsbuf)
339 Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many edgedirs for buffer\n");
343 VectorCopy(dir, edgedirsbuf[numedgedirsbuf].v);
348 // if any normal is not purely axial, it's not an axis-aligned box
349 if (isaabb && (originalplanes[j].normal[0] == 0) + (originalplanes[j].normal[1] == 0) + (originalplanes[j].normal[2] == 0) < 2)
353 // if nothing is left, there's nothing to allocate
354 if (numplanesbuf < 4)
356 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);
360 // if no triangles or points could be constructed, then this routine failed but the brush is not discarded
361 if (numelementsbuf < 12 || numpointsbuf < 4)
362 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);
364 // validate plane distances
365 for (j = 0;j < numplanesbuf;j++)
367 float d = furthestplanedist_float(planesbuf[j].normal, pointsbuf, numpointsbuf);
368 if (fabs(planesbuf[j].dist - d) > COLLISION_PLANE_DIST_EPSILON)
369 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);
372 // allocate the brush and copy to it
373 brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colpointf_t) * numedgedirsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
374 brush->isaabb = isaabb;
375 brush->hasaabbplanes = hasaabbplanes;
376 brush->supercontents = supercontents;
377 brush->numplanes = numplanesbuf;
378 brush->numedgedirs = numedgedirsbuf;
379 brush->numpoints = numpointsbuf;
380 brush->numtriangles = numelementsbuf / 3;
381 brush->planes = (colplanef_t *)(brush + 1);
382 brush->points = (colpointf_t *)(brush->planes + brush->numplanes);
383 brush->edgedirs = (colpointf_t *)(brush->points + brush->numpoints);
384 brush->elements = (int *)(brush->points + brush->numpoints);
385 brush->q3surfaceflags = q3surfaceflags;
386 brush->texture = texture;
387 for (j = 0;j < brush->numpoints;j++)
389 brush->points[j].v[0] = pointsbuf[j].v[0];
390 brush->points[j].v[1] = pointsbuf[j].v[1];
391 brush->points[j].v[2] = pointsbuf[j].v[2];
393 for (j = 0;j < brush->numedgedirs;j++)
395 brush->edgedirs[j].v[0] = edgedirsbuf[j].v[0];
396 brush->edgedirs[j].v[1] = edgedirsbuf[j].v[1];
397 brush->edgedirs[j].v[2] = edgedirsbuf[j].v[2];
399 for (j = 0;j < brush->numplanes;j++)
401 brush->planes[j].normal[0] = planesbuf[j].normal[0];
402 brush->planes[j].normal[1] = planesbuf[j].normal[1];
403 brush->planes[j].normal[2] = planesbuf[j].normal[2];
404 brush->planes[j].dist = planesbuf[j].dist;
405 brush->planes[j].q3surfaceflags = planesbuf[j].q3surfaceflags;
406 brush->planes[j].texture = planesbuf[j].texture;
408 for (j = 0;j < brush->numtriangles * 3;j++)
409 brush->elements[j] = elementsbuf[j];
412 VectorClear(brush->mins);
413 VectorClear(brush->maxs);
414 for (j = 0;j < min(6, numoriginalplanes);j++)
416 if (originalplanes[j].normal[0] == 1) {xyzflags |= 1;brush->maxs[0] = originalplanes[j].dist;}
417 else if (originalplanes[j].normal[0] == -1) {xyzflags |= 2;brush->mins[0] = -originalplanes[j].dist;}
418 else if (originalplanes[j].normal[1] == 1) {xyzflags |= 4;brush->maxs[1] = originalplanes[j].dist;}
419 else if (originalplanes[j].normal[1] == -1) {xyzflags |= 8;brush->mins[1] = -originalplanes[j].dist;}
420 else if (originalplanes[j].normal[2] == 1) {xyzflags |= 16;brush->maxs[2] = originalplanes[j].dist;}
421 else if (originalplanes[j].normal[2] == -1) {xyzflags |= 32;brush->mins[2] = -originalplanes[j].dist;}
423 // if not all xyzflags were set, then this is not a brush from q3map/q3map2, and needs reconstruction of the bounding box
424 // (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)
427 VectorCopy(brush->points[0].v, brush->mins);
428 VectorCopy(brush->points[0].v, brush->maxs);
429 for (j = 1;j < brush->numpoints;j++)
431 brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
432 brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
433 brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
434 brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
435 brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
436 brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
445 Collision_ValidateBrush(brush);
451 void Collision_CalcPlanesForPolygonBrushFloat(colbrushf_t *brush)
454 float edge0[3], edge1[3], edge2[3], normal[3], dist, bestdist;
457 // FIXME: these probably don't actually need to be normalized if the collision code does not care
458 if (brush->numpoints == 3)
460 // optimized triangle case
461 TriangleNormal(brush->points[0].v, brush->points[1].v, brush->points[2].v, brush->planes[0].normal);
462 if (DotProduct(brush->planes[0].normal, brush->planes[0].normal) < 0.0001f)
464 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
465 brush->numplanes = 0;
470 brush->numplanes = 5;
471 brush->numedgedirs = 3;
472 VectorNormalize(brush->planes[0].normal);
473 brush->planes[0].dist = DotProduct(brush->points->v, brush->planes[0].normal);
474 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
475 brush->planes[1].dist = -brush->planes[0].dist;
476 VectorSubtract(brush->points[2].v, brush->points[0].v, edge0);
477 VectorSubtract(brush->points[0].v, brush->points[1].v, edge1);
478 VectorSubtract(brush->points[1].v, brush->points[2].v, edge2);
479 VectorCopy(edge0, brush->edgedirs[0].v);
480 VectorCopy(edge1, brush->edgedirs[1].v);
481 VectorCopy(edge2, brush->edgedirs[2].v);
484 float projectionnormal[3], projectionedge0[3], projectionedge1[3], projectionedge2[3];
486 float dist, bestdist;
487 bestdist = fabs(brush->planes[0].normal[0]);
489 for (i = 1;i < 3;i++)
491 dist = fabs(brush->planes[0].normal[i]);
498 VectorClear(projectionnormal);
499 if (brush->planes[0].normal[best] < 0)
500 projectionnormal[best] = -1;
502 projectionnormal[best] = 1;
503 VectorCopy(edge0, projectionedge0);
504 VectorCopy(edge1, projectionedge1);
505 VectorCopy(edge2, projectionedge2);
506 projectionedge0[best] = 0;
507 projectionedge1[best] = 0;
508 projectionedge2[best] = 0;
509 CrossProduct(projectionedge0, projectionnormal, brush->planes[2].normal);
510 CrossProduct(projectionedge1, projectionnormal, brush->planes[3].normal);
511 CrossProduct(projectionedge2, projectionnormal, brush->planes[4].normal);
514 CrossProduct(edge0, brush->planes->normal, brush->planes[2].normal);
515 CrossProduct(edge1, brush->planes->normal, brush->planes[3].normal);
516 CrossProduct(edge2, brush->planes->normal, brush->planes[4].normal);
518 VectorNormalize(brush->planes[2].normal);
519 VectorNormalize(brush->planes[3].normal);
520 VectorNormalize(brush->planes[4].normal);
521 brush->planes[2].dist = DotProduct(brush->points[2].v, brush->planes[2].normal);
522 brush->planes[3].dist = DotProduct(brush->points[0].v, brush->planes[3].normal);
523 brush->planes[4].dist = DotProduct(brush->points[1].v, brush->planes[4].normal);
525 if (developer_extra.integer)
531 VectorSubtract(brush->points[0].v, brush->points[1].v, edge0);
532 VectorSubtract(brush->points[2].v, brush->points[1].v, edge1);
533 CrossProduct(edge0, edge1, normal);
534 VectorNormalize(normal);
535 VectorSubtract(normal, brush->planes[0].normal, temp);
536 if (VectorLength(temp) > 0.01f)
537 Con_DPrintf("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]);
538 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)
539 Con_DPrintf("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);
541 if (fabs(DotProduct(brush->planes[2].normal, brush->planes[0].normal)) > 0.01f)
542 Con_DPrintf("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);
543 if (fabs(DotProduct(brush->planes[3].normal, brush->planes[0].normal)) > 0.01f)
544 Con_DPrintf("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);
545 if (fabs(DotProduct(brush->planes[4].normal, brush->planes[0].normal)) > 0.01f)
546 Con_DPrintf("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);
547 if (fabs(DotProduct(brush->planes[2].normal, edge0)) > 0.01f)
548 Con_DPrintf("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]);
549 if (fabs(DotProduct(brush->planes[3].normal, edge1)) > 0.01f)
550 Con_DPrintf("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]);
551 if (fabs(DotProduct(brush->planes[4].normal, edge2)) > 0.01f)
552 Con_DPrintf("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]);
555 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)
556 Con_DPrintf("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);
557 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)
558 Con_DPrintf("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);
559 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)
560 Con_DPrintf("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);
561 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)
562 Con_DPrintf("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);
563 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)
564 Con_DPrintf("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);
570 // choose best surface normal for polygon's plane
572 for (i = 0, p = brush->points + 1;i < brush->numpoints - 2;i++, p++)
574 VectorSubtract(p[-1].v, p[0].v, edge0);
575 VectorSubtract(p[1].v, p[0].v, edge1);
576 CrossProduct(edge0, edge1, normal);
577 //TriangleNormal(p[-1].v, p[0].v, p[1].v, normal);
578 dist = DotProduct(normal, normal);
579 if (i == 0 || bestdist < dist)
582 VectorCopy(normal, brush->planes->normal);
585 if (bestdist < 0.0001f)
587 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
588 brush->numplanes = 0;
593 brush->numplanes = brush->numpoints + 2;
594 VectorNormalize(brush->planes->normal);
595 brush->planes->dist = DotProduct(brush->points->v, brush->planes->normal);
597 // negate plane to create other side
598 VectorNegate(brush->planes[0].normal, brush->planes[1].normal);
599 brush->planes[1].dist = -brush->planes[0].dist;
600 for (i = 0, p = brush->points + (brush->numpoints - 1), p2 = brush->points;i < brush->numpoints;i++, p = p2, p2++)
602 VectorSubtract(p->v, p2->v, edge0);
603 CrossProduct(edge0, brush->planes->normal, brush->planes[i + 2].normal);
604 VectorNormalize(brush->planes[i + 2].normal);
605 brush->planes[i + 2].dist = DotProduct(p->v, brush->planes[i + 2].normal);
610 if (developer_extra.integer)
612 // validity check - will be disabled later
613 Collision_ValidateBrush(brush);
614 for (i = 0;i < brush->numplanes;i++)
617 for (j = 0, p = brush->points;j < brush->numpoints;j++, p++)
618 if (DotProduct(p->v, brush->planes[i].normal) > brush->planes[i].dist + COLLISION_PLANE_DIST_EPSILON)
619 Con_DPrintf("Error in brush plane generation, plane %i\n", i);
624 colbrushf_t *Collision_AllocBrushFromPermanentPolygonFloat(mempool_t *mempool, int numpoints, float *points, int supercontents, int q3surfaceflags, const texture_t *texture)
627 brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2) + sizeof(colpointf_t) * numpoints);
628 brush->isaabb = false;
629 brush->hasaabbplanes = false;
630 brush->supercontents = supercontents;
631 brush->numpoints = numpoints;
632 brush->numedgedirs = numpoints;
633 brush->numplanes = numpoints + 2;
634 brush->planes = (colplanef_t *)(brush + 1);
635 brush->points = (colpointf_t *)points;
636 brush->edgedirs = (colpointf_t *)(brush->planes + brush->numplanes);
637 brush->q3surfaceflags = q3surfaceflags;
638 brush->texture = texture;
639 Sys_Error("Collision_AllocBrushFromPermanentPolygonFloat: FIXME: this code needs to be updated to generate a mesh...");
643 // NOTE: start and end of each brush pair must have same numplanes/numpoints
644 void Collision_TraceBrushBrushFloat(trace_t *trace, const colbrushf_t *trace_start, const colbrushf_t *trace_end, const colbrushf_t *other_start, const colbrushf_t *other_end)
646 int nplane, nplane2, nedge1, nedge2, hitq3surfaceflags = 0;
647 int tracenumedgedirs = trace_start->numedgedirs;
648 //int othernumedgedirs = other_start->numedgedirs;
649 int tracenumpoints = trace_start->numpoints;
650 int othernumpoints = other_start->numpoints;
651 int numplanes1 = other_start->numplanes;
652 int numplanes2 = numplanes1 + trace_start->numplanes;
653 int numplanes3 = numplanes2 + trace_start->numedgedirs * other_start->numedgedirs * 2;
654 vec_t enterfrac = -1, leavefrac = 1, startdist, enddist, ie, f, imove, enterfrac2 = -1;
657 vec4_t newimpactplane;
658 const texture_t *hittexture = NULL;
659 vec_t startdepth = 1;
660 vec3_t startdepthnormal;
662 VectorClear(startdepthnormal);
663 Vector4Clear(newimpactplane);
665 // fast case for AABB vs compiled brushes (which begin with AABB planes and also have precomputed bevels for AABB collisions)
666 if (trace_start->isaabb && other_start->hasaabbplanes)
667 numplanes3 = numplanes2 = numplanes1;
669 // Separating Axis Theorem:
670 // if a supporting vector (plane normal) can be found that separates two
671 // objects, they are not colliding.
674 // reduce the size of one object to a point while enlarging the other to
675 // represent the space that point can not occupy.
677 // try every plane we can construct between the two brushes and measure
678 // the distance between them.
679 for (nplane = 0;nplane < numplanes3;nplane++)
681 if (nplane < numplanes1)
684 VectorCopy(other_start->planes[nplane2].normal, startplane);
685 VectorCopy(other_end->planes[nplane2].normal, endplane);
687 else if (nplane < numplanes2)
689 nplane2 = nplane - numplanes1;
690 VectorCopy(trace_start->planes[nplane2].normal, startplane);
691 VectorCopy(trace_end->planes[nplane2].normal, endplane);
695 // pick an edgedir from each brush and cross them
696 nplane2 = nplane - numplanes2;
697 nedge1 = nplane2 >> 1;
698 nedge2 = nedge1 / tracenumedgedirs;
699 nedge1 -= nedge2 * tracenumedgedirs;
702 CrossProduct(trace_start->edgedirs[nedge1].v, other_start->edgedirs[nedge2].v, startplane);
703 if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
704 continue; // degenerate crossproduct
705 CrossProduct(trace_end->edgedirs[nedge1].v, other_end->edgedirs[nedge2].v, endplane);
706 if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
707 continue; // degenerate crossproduct
711 CrossProduct(other_start->edgedirs[nedge2].v, trace_start->edgedirs[nedge1].v, startplane);
712 if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
713 continue; // degenerate crossproduct
714 CrossProduct(other_end->edgedirs[nedge2].v, trace_end->edgedirs[nedge1].v, endplane);
715 if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
716 continue; // degenerate crossproduct
718 VectorNormalize(startplane);
719 VectorNormalize(endplane);
721 startplane[3] = furthestplanedist_float(startplane, other_start->points, othernumpoints);
722 endplane[3] = furthestplanedist_float(startplane, other_end->points, othernumpoints);
723 startdist = nearestplanedist_float(startplane, trace_start->points, tracenumpoints) - startplane[3] - collision_startnudge.value;
724 enddist = nearestplanedist_float(endplane, trace_end->points, tracenumpoints) - endplane[3] - collision_endnudge.value;
725 //Con_Printf("%c%i: startdist = %f, enddist = %f, startdist / (startdist - enddist) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, startdist, enddist, startdist / (startdist - enddist));
727 // aside from collisions, this is also used for error correction
728 if (startdist < collision_impactnudge.value && nplane < numplanes1 && (startdepth < startdist || startdepth == 1))
730 startdepth = startdist;
731 VectorCopy(startplane, startdepthnormal);
734 if (startdist > enddist)
737 if (enddist >= collision_enternudge.value)
742 imove = 1 / (startdist - enddist);
743 f = (startdist - collision_enternudge.value) * imove;
746 // check if this will reduce the collision time range
749 // reduced collision time range
751 // if the collision time range is now empty, no collision
752 if (enterfrac > leavefrac)
754 // if the collision would be further away than the trace's
755 // existing collision data, we don't care about this
757 if (enterfrac > trace->realfraction)
759 // calculate the nudged fraction and impact normal we'll
760 // need if we accept this collision later
761 enterfrac2 = (startdist - collision_impactnudge.value) * imove;
762 ie = 1.0f - enterfrac;
763 newimpactplane[0] = startplane[0] * ie + endplane[0] * enterfrac;
764 newimpactplane[1] = startplane[1] * ie + endplane[1] * enterfrac;
765 newimpactplane[2] = startplane[2] * ie + endplane[2] * enterfrac;
766 newimpactplane[3] = startplane[3] * ie + endplane[3] * enterfrac;
767 if (nplane < numplanes1)
769 // use the plane from other
771 hitq3surfaceflags = other_start->planes[nplane2].q3surfaceflags;
772 hittexture = other_start->planes[nplane2].texture;
774 else if (nplane < numplanes2)
776 // use the plane from trace
777 nplane2 = nplane - numplanes1;
778 hitq3surfaceflags = trace_start->planes[nplane2].q3surfaceflags;
779 hittexture = trace_start->planes[nplane2].texture;
783 hitq3surfaceflags = other_start->q3surfaceflags;
784 hittexture = other_start->texture;
791 // moving out of brush
797 f = (startdist + collision_leavenudge.value) / (startdist - enddist);
800 // check if this will reduce the collision time range
803 // reduced collision time range
805 // if the collision time range is now empty, no collision
806 if (enterfrac > leavefrac)
813 // at this point we know the trace overlaps the brush because it was not
814 // rejected at any point in the loop above
816 // see if the trace started outside the brush or not
819 // started outside, and overlaps, therefore there is a collision here
820 // store out the impact information
821 if (trace->hitsupercontentsmask & other_start->supercontents)
823 trace->hitsupercontents = other_start->supercontents;
824 trace->hitq3surfaceflags = hitq3surfaceflags;
825 trace->hittexture = hittexture;
826 trace->realfraction = bound(0, enterfrac, 1);
827 trace->fraction = bound(0, enterfrac2, 1);
828 if (collision_prefernudgedfraction.integer)
829 trace->realfraction = trace->fraction;
830 VectorCopy(newimpactplane, trace->plane.normal);
831 trace->plane.dist = newimpactplane[3];
836 // started inside, update startsolid and friends
837 trace->startsupercontents |= other_start->supercontents;
838 if (trace->hitsupercontentsmask & other_start->supercontents)
840 trace->startsolid = true;
842 trace->allsolid = true;
843 VectorCopy(newimpactplane, trace->plane.normal);
844 trace->plane.dist = newimpactplane[3];
845 if (trace->startdepth > startdepth)
847 trace->startdepth = startdepth;
848 VectorCopy(startdepthnormal, trace->startdepthnormal);
854 // NOTE: start and end of each brush pair must have same numplanes/numpoints
855 void Collision_TraceLineBrushFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, const colbrushf_t *other_start, const colbrushf_t *other_end)
857 int nplane, hitq3surfaceflags = 0;
858 int numplanes = other_start->numplanes;
859 vec_t enterfrac = -1, leavefrac = 1, startdist, enddist, ie, f, imove, enterfrac2 = -1;
862 vec4_t newimpactplane;
863 const texture_t *hittexture = NULL;
864 vec_t startdepth = 1;
865 vec3_t startdepthnormal;
867 if (collision_debug_tracelineasbox.integer)
869 colboxbrushf_t thisbrush_start, thisbrush_end;
870 Collision_BrushForBox(&thisbrush_start, linestart, linestart, 0, 0, NULL);
871 Collision_BrushForBox(&thisbrush_end, lineend, lineend, 0, 0, NULL);
872 Collision_TraceBrushBrushFloat(trace, &thisbrush_start.brush, &thisbrush_end.brush, other_start, other_end);
876 VectorClear(startdepthnormal);
877 Vector4Clear(newimpactplane);
879 // Separating Axis Theorem:
880 // if a supporting vector (plane normal) can be found that separates two
881 // objects, they are not colliding.
884 // reduce the size of one object to a point while enlarging the other to
885 // represent the space that point can not occupy.
887 // try every plane we can construct between the two brushes and measure
888 // the distance between them.
889 for (nplane = 0;nplane < numplanes;nplane++)
891 VectorCopy(other_start->planes[nplane].normal, startplane);
892 startplane[3] = other_start->planes[nplane].dist;
893 VectorCopy(other_end->planes[nplane].normal, endplane);
894 endplane[3] = other_end->planes[nplane].dist;
895 startdist = DotProduct(linestart, startplane) - startplane[3] - collision_startnudge.value;
896 enddist = DotProduct(lineend, endplane) - endplane[3] - collision_endnudge.value;
897 //Con_Printf("%c%i: startdist = %f, enddist = %f, startdist / (startdist - enddist) = %f\n", nplane2 != nplane ? 'b' : 'a', nplane2, startdist, enddist, startdist / (startdist - enddist));
899 // aside from collisions, this is also used for error correction
900 if (startdist < collision_impactnudge.value && (startdepth < startdist || startdepth == 1))
902 startdepth = startdist;
903 VectorCopy(startplane, startdepthnormal);
906 if (startdist > enddist)
909 if (enddist >= collision_enternudge.value)
914 imove = 1 / (startdist - enddist);
915 f = (startdist - collision_enternudge.value) * imove;
918 // check if this will reduce the collision time range
921 // reduced collision time range
923 // if the collision time range is now empty, no collision
924 if (enterfrac > leavefrac)
926 // if the collision would be further away than the trace's
927 // existing collision data, we don't care about this
929 if (enterfrac > trace->realfraction)
931 // calculate the nudged fraction and impact normal we'll
932 // need if we accept this collision later
933 enterfrac2 = (startdist - collision_impactnudge.value) * imove;
934 ie = 1.0f - enterfrac;
935 newimpactplane[0] = startplane[0] * ie + endplane[0] * enterfrac;
936 newimpactplane[1] = startplane[1] * ie + endplane[1] * enterfrac;
937 newimpactplane[2] = startplane[2] * ie + endplane[2] * enterfrac;
938 newimpactplane[3] = startplane[3] * ie + endplane[3] * enterfrac;
939 hitq3surfaceflags = other_start->planes[nplane].q3surfaceflags;
940 hittexture = other_start->planes[nplane].texture;
946 // moving out of brush
952 f = (startdist + collision_leavenudge.value) / (startdist - enddist);
955 // check if this will reduce the collision time range
958 // reduced collision time range
960 // if the collision time range is now empty, no collision
961 if (enterfrac > leavefrac)
968 // at this point we know the trace overlaps the brush because it was not
969 // rejected at any point in the loop above
971 // see if the trace started outside the brush or not
974 // started outside, and overlaps, therefore there is a collision here
975 // store out the impact information
976 if (trace->hitsupercontentsmask & other_start->supercontents)
978 trace->hitsupercontents = other_start->supercontents;
979 trace->hitq3surfaceflags = hitq3surfaceflags;
980 trace->hittexture = hittexture;
981 trace->realfraction = bound(0, enterfrac, 1);
982 trace->fraction = bound(0, enterfrac2, 1);
983 if (collision_prefernudgedfraction.integer)
984 trace->realfraction = trace->fraction;
985 VectorCopy(newimpactplane, trace->plane.normal);
986 trace->plane.dist = newimpactplane[3];
991 // started inside, update startsolid and friends
992 trace->startsupercontents |= other_start->supercontents;
993 if (trace->hitsupercontentsmask & other_start->supercontents)
995 trace->startsolid = true;
997 trace->allsolid = true;
998 VectorCopy(newimpactplane, trace->plane.normal);
999 trace->plane.dist = newimpactplane[3];
1000 if (trace->startdepth > startdepth)
1002 trace->startdepth = startdepth;
1003 VectorCopy(startdepthnormal, trace->startdepthnormal);
1009 qboolean Collision_PointInsideBrushFloat(const vec3_t point, const colbrushf_t *brush)
1012 const colplanef_t *plane;
1014 if (!BoxesOverlap(point, point, brush->mins, brush->maxs))
1016 for (nplane = 0, plane = brush->planes;nplane < brush->numplanes;nplane++, plane++)
1017 if (DotProduct(plane->normal, point) > plane->dist)
1022 void Collision_TracePointBrushFloat(trace_t *trace, const vec3_t point, const colbrushf_t *thatbrush)
1024 if (!Collision_PointInsideBrushFloat(point, thatbrush))
1027 trace->startsupercontents |= thatbrush->supercontents;
1028 if (trace->hitsupercontentsmask & thatbrush->supercontents)
1030 trace->startsolid = true;
1031 trace->allsolid = true;
1035 void Collision_SnapCopyPoints(int numpoints, const colpointf_t *in, colpointf_t *out, float fractionprecision, float invfractionprecision)
1038 for (i = 0;i < numpoints;i++)
1040 out[i].v[0] = floor(in[i].v[0] * fractionprecision + 0.5f) * invfractionprecision;
1041 out[i].v[1] = floor(in[i].v[1] * fractionprecision + 0.5f) * invfractionprecision;
1042 out[i].v[2] = floor(in[i].v[2] * fractionprecision + 0.5f) * invfractionprecision;
1046 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 stride, float *bbox6f, int supercontents, int q3surfaceflags, const texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
1049 colpointf_t points[3];
1050 colpointf_t edgedirs[3];
1051 colplanef_t planes[5];
1053 memset(&brush, 0, sizeof(brush));
1054 brush.isaabb = false;
1055 brush.hasaabbplanes = false;
1056 brush.numpoints = 3;
1057 brush.numedgedirs = 3;
1058 brush.numplanes = 5;
1059 brush.points = points;
1060 brush.edgedirs = edgedirs;
1061 brush.planes = planes;
1062 brush.supercontents = supercontents;
1063 brush.q3surfaceflags = q3surfaceflags;
1064 brush.texture = texture;
1065 for (i = 0;i < brush.numplanes;i++)
1067 brush.planes[i].q3surfaceflags = q3surfaceflags;
1068 brush.planes[i].texture = texture;
1073 cnt = (numtriangles + stride - 1) / stride;
1074 for(i = 0; i < cnt; ++i)
1076 if(BoxesOverlap(bbox6f + i * 6, bbox6f + i * 6 + 3, segmentmins, segmentmaxs))
1078 for(k = 0; k < stride; ++k)
1080 tri = i * stride + k;
1081 if(tri >= numtriangles)
1083 VectorCopy(vertex3f + element3i[tri * 3 + 0] * 3, points[0].v);
1084 VectorCopy(vertex3f + element3i[tri * 3 + 1] * 3, points[1].v);
1085 VectorCopy(vertex3f + element3i[tri * 3 + 2] * 3, points[2].v);
1086 Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1087 Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
1088 Collision_CalcPlanesForPolygonBrushFloat(&brush);
1089 //Collision_PrintBrushAsQHull(&brush, "brush");
1090 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
1095 else if(stride == 0)
1097 for (i = 0;i < numtriangles;i++, element3i += 3)
1099 if (TriangleOverlapsBox(vertex3f + element3i[0]*3, vertex3f + element3i[1]*3, vertex3f + element3i[2]*3, segmentmins, segmentmaxs))
1101 VectorCopy(vertex3f + element3i[0] * 3, points[0].v);
1102 VectorCopy(vertex3f + element3i[1] * 3, points[1].v);
1103 VectorCopy(vertex3f + element3i[2] * 3, points[2].v);
1104 Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1105 Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
1106 Collision_CalcPlanesForPolygonBrushFloat(&brush);
1107 //Collision_PrintBrushAsQHull(&brush, "brush");
1108 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
1114 for (i = 0;i < numtriangles;i++, element3i += 3)
1116 VectorCopy(vertex3f + element3i[0] * 3, points[0].v);
1117 VectorCopy(vertex3f + element3i[1] * 3, points[1].v);
1118 VectorCopy(vertex3f + element3i[2] * 3, points[2].v);
1119 Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1120 Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
1121 Collision_CalcPlanesForPolygonBrushFloat(&brush);
1122 //Collision_PrintBrushAsQHull(&brush, "brush");
1123 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
1128 void Collision_TraceLineTriangleMeshFloat(trace_t *trace, const vec3_t linestart, const vec3_t lineend, int numtriangles, const int *element3i, const float *vertex3f, int stride, float *bbox6f, int supercontents, int q3surfaceflags, const texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
1131 // FIXME: snap vertices?
1135 cnt = (numtriangles + stride - 1) / stride;
1136 for(i = 0; i < cnt; ++i)
1138 if(BoxesOverlap(bbox6f + i * 6, bbox6f + i * 6 + 3, segmentmins, segmentmaxs))
1140 for(k = 0; k < stride; ++k)
1142 tri = i * stride + k;
1143 if(tri >= numtriangles)
1145 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[tri * 3 + 0] * 3, vertex3f + element3i[tri * 3 + 1] * 3, vertex3f + element3i[tri * 3 + 2] * 3, supercontents, q3surfaceflags, texture);
1152 for (i = 0;i < numtriangles;i++, element3i += 3)
1153 Collision_TraceLineTriangleFloat(trace, linestart, lineend, vertex3f + element3i[0] * 3, vertex3f + element3i[1] * 3, vertex3f + element3i[2] * 3, supercontents, q3surfaceflags, texture);
1157 void Collision_TraceBrushTriangleFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, const float *v0, const float *v1, const float *v2, int supercontents, int q3surfaceflags, const texture_t *texture)
1160 colpointf_t points[3];
1161 colpointf_t edgedirs[3];
1162 colplanef_t planes[5];
1164 memset(&brush, 0, sizeof(brush));
1165 brush.isaabb = false;
1166 brush.hasaabbplanes = false;
1167 brush.numpoints = 3;
1168 brush.numedgedirs = 3;
1169 brush.numplanes = 5;
1170 brush.points = points;
1171 brush.edgedirs = edgedirs;
1172 brush.planes = planes;
1173 brush.supercontents = supercontents;
1174 brush.q3surfaceflags = q3surfaceflags;
1175 brush.texture = texture;
1176 for (i = 0;i < brush.numplanes;i++)
1178 brush.planes[i].q3surfaceflags = q3surfaceflags;
1179 brush.planes[i].texture = texture;
1181 VectorCopy(v0, points[0].v);
1182 VectorCopy(v1, points[1].v);
1183 VectorCopy(v2, points[2].v);
1184 Collision_SnapCopyPoints(brush.numpoints, points, points, COLLISION_SNAPSCALE, COLLISION_SNAP);
1185 Collision_CalcEdgeDirsForPolygonBrushFloat(&brush);
1186 Collision_CalcPlanesForPolygonBrushFloat(&brush);
1187 //Collision_PrintBrushAsQHull(&brush, "brush");
1188 Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &brush, &brush);
1191 void Collision_BrushForBox(colboxbrushf_t *boxbrush, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, const texture_t *texture)
1194 memset(boxbrush, 0, sizeof(*boxbrush));
1195 boxbrush->brush.isaabb = true;
1196 boxbrush->brush.hasaabbplanes = true;
1197 boxbrush->brush.points = boxbrush->points;
1198 boxbrush->brush.edgedirs = boxbrush->edgedirs;
1199 boxbrush->brush.planes = boxbrush->planes;
1200 boxbrush->brush.supercontents = supercontents;
1201 boxbrush->brush.q3surfaceflags = q3surfaceflags;
1202 boxbrush->brush.texture = texture;
1203 if (VectorCompare(mins, maxs))
1206 boxbrush->brush.numpoints = 1;
1207 boxbrush->brush.numedgedirs = 0;
1208 boxbrush->brush.numplanes = 0;
1209 VectorCopy(mins, boxbrush->brush.points[0].v);
1213 boxbrush->brush.numpoints = 8;
1214 boxbrush->brush.numedgedirs = 3;
1215 boxbrush->brush.numplanes = 6;
1216 // there are 8 points on a box
1217 // there are 3 edgedirs on a box (both signs are tested in collision)
1218 // there are 6 planes on a box
1219 VectorSet(boxbrush->brush.points[0].v, mins[0], mins[1], mins[2]);
1220 VectorSet(boxbrush->brush.points[1].v, maxs[0], mins[1], mins[2]);
1221 VectorSet(boxbrush->brush.points[2].v, mins[0], maxs[1], mins[2]);
1222 VectorSet(boxbrush->brush.points[3].v, maxs[0], maxs[1], mins[2]);
1223 VectorSet(boxbrush->brush.points[4].v, mins[0], mins[1], maxs[2]);
1224 VectorSet(boxbrush->brush.points[5].v, maxs[0], mins[1], maxs[2]);
1225 VectorSet(boxbrush->brush.points[6].v, mins[0], maxs[1], maxs[2]);
1226 VectorSet(boxbrush->brush.points[7].v, maxs[0], maxs[1], maxs[2]);
1227 VectorSet(boxbrush->brush.edgedirs[0].v, 1, 0, 0);
1228 VectorSet(boxbrush->brush.edgedirs[1].v, 0, 1, 0);
1229 VectorSet(boxbrush->brush.edgedirs[2].v, 0, 0, 1);
1230 VectorSet(boxbrush->brush.planes[0].normal, -1, 0, 0);boxbrush->brush.planes[0].dist = -mins[0];
1231 VectorSet(boxbrush->brush.planes[1].normal, 1, 0, 0);boxbrush->brush.planes[1].dist = maxs[0];
1232 VectorSet(boxbrush->brush.planes[2].normal, 0, -1, 0);boxbrush->brush.planes[2].dist = -mins[1];
1233 VectorSet(boxbrush->brush.planes[3].normal, 0, 1, 0);boxbrush->brush.planes[3].dist = maxs[1];
1234 VectorSet(boxbrush->brush.planes[4].normal, 0, 0, -1);boxbrush->brush.planes[4].dist = -mins[2];
1235 VectorSet(boxbrush->brush.planes[5].normal, 0, 0, 1);boxbrush->brush.planes[5].dist = maxs[2];
1236 for (i = 0;i < 6;i++)
1238 boxbrush->brush.planes[i].q3surfaceflags = q3surfaceflags;
1239 boxbrush->brush.planes[i].texture = texture;
1242 boxbrush->brush.supercontents = supercontents;
1243 boxbrush->brush.q3surfaceflags = q3surfaceflags;
1244 boxbrush->brush.texture = texture;
1245 VectorSet(boxbrush->brush.mins, mins[0] - 1, mins[1] - 1, mins[2] - 1);
1246 VectorSet(boxbrush->brush.maxs, maxs[0] + 1, maxs[1] + 1, maxs[2] + 1);
1247 //Collision_ValidateBrush(&boxbrush->brush);
1250 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)
1252 colboxbrushf_t boxbrush, thisbrush_start, thisbrush_end;
1253 vec3_t startmins, startmaxs, endmins, endmaxs;
1255 // create brushes for the collision
1256 VectorAdd(start, mins, startmins);
1257 VectorAdd(start, maxs, startmaxs);
1258 VectorAdd(end, mins, endmins);
1259 VectorAdd(end, maxs, endmaxs);
1260 Collision_BrushForBox(&boxbrush, cmins, cmaxs, supercontents, q3surfaceflags, texture);
1261 Collision_BrushForBox(&thisbrush_start, startmins, startmaxs, 0, 0, NULL);
1262 Collision_BrushForBox(&thisbrush_end, endmins, endmaxs, 0, 0, NULL);
1264 memset(trace, 0, sizeof(trace_t));
1265 trace->hitsupercontentsmask = hitsupercontentsmask;
1266 trace->fraction = 1;
1267 trace->realfraction = 1;
1268 trace->allsolid = true;
1269 Collision_TraceBrushBrushFloat(trace, &thisbrush_start.brush, &thisbrush_end.brush, &boxbrush.brush, &boxbrush.brush);
1272 //pseudocode for detecting line/sphere overlap without calculating an impact point
1273 //linesphereorigin = sphereorigin - linestart;linediff = lineend - linestart;linespherefrac = DotProduct(linesphereorigin, linediff) / DotProduct(linediff, linediff);return VectorLength2(linesphereorigin - bound(0, linespherefrac, 1) * linediff) >= sphereradius*sphereradius;
1275 // LordHavoc: currently unused, but tested
1276 // note: this can be used for tracing a moving sphere vs a stationary sphere,
1277 // by simply adding the moving sphere's radius to the sphereradius parameter,
1278 // all the results are correct (impactpoint, impactnormal, and fraction)
1279 float Collision_ClipTrace_Line_Sphere(double *linestart, double *lineend, double *sphereorigin, double sphereradius, double *impactpoint, double *impactnormal)
1281 double dir[3], scale, v[3], deviationdist, impactdist, linelength;
1282 // make sure the impactpoint and impactnormal are valid even if there is
1284 VectorCopy(lineend, impactpoint);
1285 VectorClear(impactnormal);
1286 // calculate line direction
1287 VectorSubtract(lineend, linestart, dir);
1288 // normalize direction
1289 linelength = VectorLength(dir);
1292 scale = 1.0 / linelength;
1293 VectorScale(dir, scale, dir);
1295 // this dotproduct calculates the distance along the line at which the
1296 // sphere origin is (nearest point to the sphere origin on the line)
1297 impactdist = DotProduct(sphereorigin, dir) - DotProduct(linestart, dir);
1298 // calculate point on line at that distance, and subtract the
1299 // sphereorigin from it, so we have a vector to measure for the distance
1300 // of the line from the sphereorigin (deviation, how off-center it is)
1301 VectorMA(linestart, impactdist, dir, v);
1302 VectorSubtract(v, sphereorigin, v);
1303 deviationdist = VectorLength2(v);
1304 // if outside the radius, it's a miss for sure
1305 // (we do this comparison using squared radius to avoid a sqrt)
1306 if (deviationdist > sphereradius*sphereradius)
1307 return 1; // miss (off to the side)
1308 // nudge back to find the correct impact distance
1309 impactdist -= sphereradius - deviationdist/sphereradius;
1310 if (impactdist >= linelength)
1311 return 1; // miss (not close enough)
1313 return 1; // miss (linestart is past or inside sphere)
1314 // calculate new impactpoint
1315 VectorMA(linestart, impactdist, dir, impactpoint);
1316 // calculate impactnormal (surface normal at point of impact)
1317 VectorSubtract(impactpoint, sphereorigin, impactnormal);
1318 // normalize impactnormal
1319 VectorNormalize(impactnormal);
1320 // return fraction of movement distance
1321 return impactdist / linelength;
1324 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, const texture_t *texture)
1328 float d1, d2, d, f, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, faceplanenormallength2, edge01[3], edge21[3], edge02[3];
1330 // this function executes:
1331 // 32 ops when line starts behind triangle
1332 // 38 ops when line ends infront of triangle
1333 // 43 ops when line fraction is already closer than this triangle
1334 // 72 ops when line is outside edge 01
1335 // 92 ops when line is outside edge 21
1336 // 115 ops when line is outside edge 02
1337 // 123 ops when line impacts triangle and updates trace results
1339 // this code is designed for clockwise triangles, conversion to
1340 // counterclockwise would require swapping some things around...
1341 // it is easier to simply swap the point0 and point2 parameters to this
1342 // function when calling it than it is to rewire the internals.
1344 // calculate the faceplanenormal of the triangle, this represents the front side
1346 VectorSubtract(point0, point1, edge01);
1347 VectorSubtract(point2, point1, edge21);
1348 CrossProduct(edge01, edge21, faceplanenormal);
1349 // there's no point in processing a degenerate triangle (GIGO - Garbage In, Garbage Out)
1351 faceplanenormallength2 = DotProduct(faceplanenormal, faceplanenormal);
1352 if (faceplanenormallength2 < 0.0001f)
1354 // calculate the distance
1356 faceplanedist = DotProduct(point0, faceplanenormal);
1358 // if start point is on the back side there is no collision
1359 // (we don't care about traces going through the triangle the wrong way)
1361 // calculate the start distance
1363 d1 = DotProduct(faceplanenormal, linestart);
1364 if (d1 <= faceplanedist)
1367 // calculate the end distance
1369 d2 = DotProduct(faceplanenormal, lineend);
1370 // if both are in front, there is no collision
1371 if (d2 >= faceplanedist)
1374 // from here on we know d1 is >= 0 and d2 is < 0
1375 // this means the line starts infront and ends behind, passing through it
1377 // calculate the recipricol of the distance delta,
1378 // so we can use it multiple times cheaply (instead of division)
1380 d = 1.0f / (d1 - d2);
1381 // calculate the impact fraction by taking the start distance (> 0)
1382 // and subtracting the face plane distance (this is the distance of the
1383 // triangle along that same normal)
1384 // then multiply by the recipricol distance delta
1386 f = (d1 - faceplanedist) * d;
1387 // skip out if this impact is further away than previous ones
1389 if (f > trace->realfraction)
1391 // calculate the perfect impact point for classification of insidedness
1393 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1394 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1395 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1397 // calculate the edge normal and reject if impact is outside triangle
1398 // (an edge normal faces away from the triangle, to get the desired normal
1399 // a crossproduct with the faceplanenormal is used, and because of the way
1400 // the insidedness comparison is written it does not need to be normalized)
1402 // first use the two edges from the triangle plane math
1403 // the other edge only gets calculated if the point survives that long
1406 CrossProduct(edge01, faceplanenormal, edgenormal);
1407 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1411 CrossProduct(faceplanenormal, edge21, edgenormal);
1412 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1416 VectorSubtract(point0, point2, edge02);
1417 CrossProduct(faceplanenormal, edge02, edgenormal);
1418 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1423 // store the new trace fraction
1424 trace->realfraction = f;
1426 // calculate a nudged fraction to keep it out of the surface
1427 // (the main fraction remains perfect)
1428 trace->fraction = f - collision_impactnudge.value * d;
1430 if (collision_prefernudgedfraction.integer)
1431 trace->realfraction = trace->fraction;
1433 // store the new trace plane (because collisions only happen from
1434 // the front this is always simply the triangle normal, never flipped)
1435 d = 1.0 / sqrt(faceplanenormallength2);
1436 VectorScale(faceplanenormal, d, trace->plane.normal);
1437 trace->plane.dist = faceplanedist * d;
1439 trace->hitsupercontents = supercontents;
1440 trace->hitq3surfaceflags = q3surfaceflags;
1441 trace->hittexture = texture;
1443 float d1, d2, d, f, fnudged, impact[3], edgenormal[3], faceplanenormal[3], faceplanedist, edge[3];
1445 // this code is designed for clockwise triangles, conversion to
1446 // counterclockwise would require swapping some things around...
1447 // it is easier to simply swap the point0 and point2 parameters to this
1448 // function when calling it than it is to rewire the internals.
1450 // calculate the unnormalized faceplanenormal of the triangle,
1451 // this represents the front side
1452 TriangleNormal(point0, point1, point2, faceplanenormal);
1453 // there's no point in processing a degenerate triangle
1454 // (GIGO - Garbage In, Garbage Out)
1455 if (DotProduct(faceplanenormal, faceplanenormal) < 0.0001f)
1457 // calculate the unnormalized distance
1458 faceplanedist = DotProduct(point0, faceplanenormal);
1460 // calculate the unnormalized start distance
1461 d1 = DotProduct(faceplanenormal, linestart) - faceplanedist;
1462 // if start point is on the back side there is no collision
1463 // (we don't care about traces going through the triangle the wrong way)
1467 // calculate the unnormalized end distance
1468 d2 = DotProduct(faceplanenormal, lineend) - faceplanedist;
1469 // if both are in front, there is no collision
1473 // from here on we know d1 is >= 0 and d2 is < 0
1474 // this means the line starts infront and ends behind, passing through it
1476 // calculate the recipricol of the distance delta,
1477 // so we can use it multiple times cheaply (instead of division)
1478 d = 1.0f / (d1 - d2);
1479 // calculate the impact fraction by taking the start distance (> 0)
1480 // and subtracting the face plane distance (this is the distance of the
1481 // triangle along that same normal)
1482 // then multiply by the recipricol distance delta
1484 // skip out if this impact is further away than previous ones
1485 if (f > trace->realfraction)
1487 // calculate the perfect impact point for classification of insidedness
1488 impact[0] = linestart[0] + f * (lineend[0] - linestart[0]);
1489 impact[1] = linestart[1] + f * (lineend[1] - linestart[1]);
1490 impact[2] = linestart[2] + f * (lineend[2] - linestart[2]);
1492 // calculate the edge normal and reject if impact is outside triangle
1493 // (an edge normal faces away from the triangle, to get the desired normal
1494 // a crossproduct with the faceplanenormal is used, and because of the way
1495 // the insidedness comparison is written it does not need to be normalized)
1497 VectorSubtract(point2, point0, edge);
1498 CrossProduct(edge, faceplanenormal, edgenormal);
1499 if (DotProduct(impact, edgenormal) > DotProduct(point0, edgenormal))
1502 VectorSubtract(point0, point1, edge);
1503 CrossProduct(edge, faceplanenormal, edgenormal);
1504 if (DotProduct(impact, edgenormal) > DotProduct(point1, edgenormal))
1507 VectorSubtract(point1, point2, edge);
1508 CrossProduct(edge, faceplanenormal, edgenormal);
1509 if (DotProduct(impact, edgenormal) > DotProduct(point2, edgenormal))
1512 // store the new trace fraction
1513 trace->realfraction = bound(0, f, 1);
1515 // store the new trace plane (because collisions only happen from
1516 // the front this is always simply the triangle normal, never flipped)
1517 VectorNormalize(faceplanenormal);
1518 VectorCopy(faceplanenormal, trace->plane.normal);
1519 trace->plane.dist = DotProduct(point0, faceplanenormal);
1521 // calculate the normalized start and end distances
1522 d1 = DotProduct(trace->plane.normal, linestart) - trace->plane.dist;
1523 d2 = DotProduct(trace->plane.normal, lineend) - trace->plane.dist;
1525 // calculate a nudged fraction to keep it out of the surface
1526 // (the main fraction remains perfect)
1527 fnudged = (d1 - collision_impactnudge.value) / (d1 - d2);
1528 trace->fraction = bound(0, fnudged, 1);
1530 // store the new trace endpos
1531 // not needed, it's calculated later when the trace is finished
1532 //trace->endpos[0] = linestart[0] + fnudged * (lineend[0] - linestart[0]);
1533 //trace->endpos[1] = linestart[1] + fnudged * (lineend[1] - linestart[1]);
1534 //trace->endpos[2] = linestart[2] + fnudged * (lineend[2] - linestart[2]);
1535 trace->hitsupercontents = supercontents;
1536 trace->hitq3surfaceflags = q3surfaceflags;
1537 trace->hittexture = texture;
1541 typedef struct colbspnode_s
1544 struct colbspnode_s *children[2];
1545 // the node is reallocated or split if max is reached
1548 colbrushf_t **colbrushflist;
1551 //colbrushd_t **colbrushdlist;
1555 typedef struct colbsp_s
1558 colbspnode_t *nodes;
1562 colbsp_t *Collision_CreateCollisionBSP(mempool_t *mempool)
1565 bsp = (colbsp_t *)Mem_Alloc(mempool, sizeof(colbsp_t));
1566 bsp->mempool = mempool;
1567 bsp->nodes = (colbspnode_t *)Mem_Alloc(bsp->mempool, sizeof(colbspnode_t));
1571 void Collision_FreeCollisionBSPNode(colbspnode_t *node)
1573 if (node->children[0])
1574 Collision_FreeCollisionBSPNode(node->children[0]);
1575 if (node->children[1])
1576 Collision_FreeCollisionBSPNode(node->children[1]);
1577 while (--node->numcolbrushf)
1578 Mem_Free(node->colbrushflist[node->numcolbrushf]);
1579 //while (--node->numcolbrushd)
1580 // Mem_Free(node->colbrushdlist[node->numcolbrushd]);
1584 void Collision_FreeCollisionBSP(colbsp_t *bsp)
1586 Collision_FreeCollisionBSPNode(bsp->nodes);
1590 void Collision_BoundingBoxOfBrushTraceSegment(const colbrushf_t *start, const colbrushf_t *end, vec3_t mins, vec3_t maxs, float startfrac, float endfrac)
1593 colpointf_t *ps, *pe;
1594 float tempstart[3], tempend[3];
1595 VectorLerp(start->points[0].v, startfrac, end->points[0].v, mins);
1596 VectorCopy(mins, maxs);
1597 for (i = 0, ps = start->points, pe = end->points;i < start->numpoints;i++, ps++, pe++)
1599 VectorLerp(ps->v, startfrac, pe->v, tempstart);
1600 VectorLerp(ps->v, endfrac, pe->v, tempend);
1601 mins[0] = min(mins[0], min(tempstart[0], tempend[0]));
1602 mins[1] = min(mins[1], min(tempstart[1], tempend[1]));
1603 mins[2] = min(mins[2], min(tempstart[2], tempend[2]));
1604 maxs[0] = min(maxs[0], min(tempstart[0], tempend[0]));
1605 maxs[1] = min(maxs[1], min(tempstart[1], tempend[1]));
1606 maxs[2] = min(maxs[2], min(tempstart[2], tempend[2]));
1616 //===========================================
1618 void Collision_TranslateBrush(const vec3_t shift, colbrushf_t *brush)
1621 // now we can transform the data
1622 for(i = 0; i < brush->numplanes; ++i)
1624 brush->planes[i].dist += DotProduct(shift, brush->planes[i].normal);
1626 for(i = 0; i < brush->numpoints; ++i)
1628 VectorAdd(brush->points[i].v, shift, brush->points[i].v);
1630 VectorAdd(brush->mins, shift, brush->mins);
1631 VectorAdd(brush->maxs, shift, brush->maxs);
1634 void Collision_TransformBrush(const matrix4x4_t *matrix, colbrushf_t *brush)
1638 // we're breaking any AABB properties here...
1639 brush->isaabb = false;
1640 brush->hasaabbplanes = false;
1641 // now we can transform the data
1642 for(i = 0; i < brush->numplanes; ++i)
1644 Matrix4x4_TransformPositivePlane(matrix, brush->planes[i].normal[0], brush->planes[i].normal[1], brush->planes[i].normal[2], brush->planes[i].dist, brush->planes[i].normal);
1646 for(i = 0; i < brush->numedgedirs; ++i)
1648 Matrix4x4_Transform(matrix, brush->edgedirs[i].v, v);
1649 VectorCopy(v, brush->edgedirs[i].v);
1651 for(i = 0; i < brush->numpoints; ++i)
1653 Matrix4x4_Transform(matrix, brush->points[i].v, v);
1654 VectorCopy(v, brush->points[i].v);
1656 VectorCopy(brush->points[0].v, brush->mins);
1657 VectorCopy(brush->points[0].v, brush->maxs);
1658 for(i = 1; i < brush->numpoints; ++i)
1660 if(brush->points[i].v[0] < brush->mins[0]) brush->mins[0] = brush->points[i].v[0];
1661 if(brush->points[i].v[1] < brush->mins[1]) brush->mins[1] = brush->points[i].v[1];
1662 if(brush->points[i].v[2] < brush->mins[2]) brush->mins[2] = brush->points[i].v[2];
1663 if(brush->points[i].v[0] > brush->maxs[0]) brush->maxs[0] = brush->points[i].v[0];
1664 if(brush->points[i].v[1] > brush->maxs[1]) brush->maxs[1] = brush->points[i].v[1];
1665 if(brush->points[i].v[2] > brush->maxs[2]) brush->maxs[2] = brush->points[i].v[2];
1669 typedef struct collision_cachedtrace_parameters_s
1676 // const frameblend_t *frameblend;
1677 // const skeleton_t *skeleton;
1678 // matrix4x4_t inversematrix;
1679 int hitsupercontentsmask;
1680 int type; // which type of query produced this cache entry
1684 int bodysupercontents;
1686 collision_cachedtrace_parameters_t;
1688 typedef struct collision_cachedtrace_s
1691 collision_cachedtrace_parameters_t p;
1694 collision_cachedtrace_t;
1696 static mempool_t *collision_cachedtrace_mempool;
1697 static collision_cachedtrace_t *collision_cachedtrace_array;
1698 static int collision_cachedtrace_firstfree;
1699 static int collision_cachedtrace_lastused;
1700 static int collision_cachedtrace_max;
1701 static int collision_cachedtrace_sequence;
1702 static int collision_cachedtrace_hashsize;
1703 static int *collision_cachedtrace_hash;
1704 static unsigned int *collision_cachedtrace_arrayfullhashindex;
1705 static unsigned int *collision_cachedtrace_arrayhashindex;
1706 static unsigned int *collision_cachedtrace_arraynext;
1707 static unsigned char *collision_cachedtrace_arrayused;
1708 static qboolean collision_cachedtrace_rebuildhash;
1710 void Collision_Cache_Reset(qboolean resetlimits)
1712 if (collision_cachedtrace_hash)
1713 Mem_Free(collision_cachedtrace_hash);
1714 if (collision_cachedtrace_array)
1715 Mem_Free(collision_cachedtrace_array);
1716 if (collision_cachedtrace_arrayfullhashindex)
1717 Mem_Free(collision_cachedtrace_arrayfullhashindex);
1718 if (collision_cachedtrace_arrayhashindex)
1719 Mem_Free(collision_cachedtrace_arrayhashindex);
1720 if (collision_cachedtrace_arraynext)
1721 Mem_Free(collision_cachedtrace_arraynext);
1722 if (collision_cachedtrace_arrayused)
1723 Mem_Free(collision_cachedtrace_arrayused);
1724 if (resetlimits || !collision_cachedtrace_max)
1725 collision_cachedtrace_max = collision_cache.integer ? 128 : 1;
1726 collision_cachedtrace_firstfree = 1;
1727 collision_cachedtrace_lastused = 0;
1728 collision_cachedtrace_hashsize = collision_cachedtrace_max;
1729 collision_cachedtrace_array = (collision_cachedtrace_t *)Mem_Alloc(collision_cachedtrace_mempool, collision_cachedtrace_max * sizeof(collision_cachedtrace_t));
1730 collision_cachedtrace_hash = (int *)Mem_Alloc(collision_cachedtrace_mempool, collision_cachedtrace_hashsize * sizeof(int));
1731 collision_cachedtrace_arrayfullhashindex = (unsigned int *)Mem_Alloc(collision_cachedtrace_mempool, collision_cachedtrace_max * sizeof(unsigned int));
1732 collision_cachedtrace_arrayhashindex = (unsigned int *)Mem_Alloc(collision_cachedtrace_mempool, collision_cachedtrace_max * sizeof(unsigned int));
1733 collision_cachedtrace_arraynext = (unsigned int *)Mem_Alloc(collision_cachedtrace_mempool, collision_cachedtrace_max * sizeof(unsigned int));
1734 collision_cachedtrace_arrayused = (unsigned char *)Mem_Alloc(collision_cachedtrace_mempool, collision_cachedtrace_max * sizeof(unsigned char));
1735 collision_cachedtrace_sequence = 1;
1736 collision_cachedtrace_rebuildhash = false;
1739 void Collision_Cache_Init(mempool_t *mempool)
1741 collision_cachedtrace_mempool = mempool;
1742 Collision_Cache_Reset(true);
1745 void Collision_Cache_RebuildHash(void)
1748 int range = collision_cachedtrace_lastused + 1;
1749 int sequence = collision_cachedtrace_sequence;
1750 int firstfree = collision_cachedtrace_max;
1752 int *hash = collision_cachedtrace_hash;
1753 unsigned int hashindex;
1754 unsigned int *arrayhashindex = collision_cachedtrace_arrayhashindex;
1755 unsigned int *arraynext = collision_cachedtrace_arraynext;
1756 collision_cachedtrace_rebuildhash = false;
1757 memset(collision_cachedtrace_hash, 0, collision_cachedtrace_hashsize * sizeof(int));
1758 for (index = 1;index < range;index++)
1760 if (collision_cachedtrace_arrayused[index] == sequence)
1762 hashindex = arrayhashindex[index];
1763 arraynext[index] = hash[hashindex];
1764 hash[hashindex] = index;
1769 if (firstfree > index)
1771 collision_cachedtrace_arrayused[index] = 0;
1774 collision_cachedtrace_firstfree = firstfree;
1775 collision_cachedtrace_lastused = lastused;
1778 void Collision_Cache_NewFrame(void)
1780 if (collision_cache.integer)
1782 if (collision_cachedtrace_max < 128)
1783 Collision_Cache_Reset(true);
1787 if (collision_cachedtrace_max > 1)
1788 Collision_Cache_Reset(true);
1790 // rebuild hash if sequence would overflow byte, otherwise increment
1791 if (collision_cachedtrace_sequence == 255)
1793 Collision_Cache_RebuildHash();
1794 collision_cachedtrace_sequence = 1;
1798 collision_cachedtrace_rebuildhash = true;
1799 collision_cachedtrace_sequence++;
1803 static unsigned int Collision_Cache_HashIndexForArray(unsigned int *array, unsigned int size)
1806 unsigned int hashindex = 0;
1807 // this is a super-cheesy checksum, designed only for speed
1808 for (i = 0;i < size;i++)
1809 hashindex += array[i] * (1 + i);
1813 static collision_cachedtrace_t *Collision_Cache_Lookup(int type, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, const matrix4x4_t *matrix, const matrix4x4_t *inversematrix, const vec3_t start, const vec3_t mins, const vec3_t maxs, const vec3_t end, int hitsupercontentsmask)
1816 unsigned int fullhashindex;
1819 int sequence = collision_cachedtrace_sequence;
1820 int *hash = collision_cachedtrace_hash;
1821 unsigned int *arrayfullhashindex = collision_cachedtrace_arrayfullhashindex;
1822 unsigned int *arraynext = collision_cachedtrace_arraynext;
1823 collision_cachedtrace_t *cached = collision_cachedtrace_array + index;
1824 collision_cachedtrace_parameters_t params;
1825 // all non-cached traces use the same index
1826 if ((frameblend && frameblend[0].lerp != 1) || (skeleton && skeleton->relativetransforms))
1827 r_refdef.stats.collisioncache_animated++;
1828 else if (!collision_cache.integer)
1829 r_refdef.stats.collisioncache_traced++;
1832 // cached trace lookup
1834 params.model = model;
1835 VectorCopy(bodymins, params.bodymins);
1836 VectorCopy(bodymaxs, params.bodymaxs);
1837 params.bodysupercontents = bodysupercontents;
1838 VectorCopy(start, params.start);
1839 VectorCopy(mins, params.mins);
1840 VectorCopy(maxs, params.maxs);
1841 VectorCopy(end, params.end);
1842 params.hitsupercontentsmask = hitsupercontentsmask;
1843 params.matrix = *matrix;
1844 //params.inversematrix = *inversematrix;
1845 fullhashindex = Collision_Cache_HashIndexForArray((unsigned int *)¶ms, sizeof(params) / sizeof(unsigned int));
1846 //fullhashindex = Collision_Cache_HashIndexForArray((unsigned int *)¶ms, 10);
1847 hashindex = (int)(fullhashindex % (unsigned int)collision_cachedtrace_hashsize);
1848 for (index = hash[hashindex];index;index = arraynext[index])
1850 if (arrayfullhashindex[index] != fullhashindex)
1852 cached = collision_cachedtrace_array + index;
1853 if (memcmp(&cached->p, ¶ms, sizeof(params)))
1855 // found a matching trace in the cache
1856 r_refdef.stats.collisioncache_cached++;
1857 cached->valid = true;
1858 collision_cachedtrace_arrayused[index] = collision_cachedtrace_sequence;
1861 r_refdef.stats.collisioncache_traced++;
1862 // find an unused cache entry
1863 for (index = collision_cachedtrace_firstfree, range = collision_cachedtrace_max;index < range;index++)
1864 if (collision_cachedtrace_arrayused[index] == 0)
1868 // all claimed, but probably some are stale...
1869 for (index = 1, range = collision_cachedtrace_max;index < range;index++)
1870 if (collision_cachedtrace_arrayused[index] != sequence)
1874 // found a stale one, rebuild the hash
1875 Collision_Cache_RebuildHash();
1879 // we need to grow the cache
1880 collision_cachedtrace_max *= 2;
1881 Collision_Cache_Reset(false);
1885 // link the new cache entry into the hash bucket
1886 collision_cachedtrace_firstfree = index + 1;
1887 if (collision_cachedtrace_lastused < index)
1888 collision_cachedtrace_lastused = index;
1889 cached = collision_cachedtrace_array + index;
1890 collision_cachedtrace_arraynext[index] = collision_cachedtrace_hash[hashindex];
1891 collision_cachedtrace_hash[hashindex] = index;
1892 collision_cachedtrace_arrayhashindex[index] = hashindex;
1893 cached->valid = false;
1895 collision_cachedtrace_arrayfullhashindex[index] = fullhashindex;
1896 collision_cachedtrace_arrayused[index] = collision_cachedtrace_sequence;
1901 void Collision_ClipToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, 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)
1903 float starttransformed[3], endtransformed[3];
1904 collision_cachedtrace_t *cached = Collision_Cache_Lookup(3, model, frameblend, skeleton, bodymins, bodymaxs, bodysupercontents, matrix, inversematrix, start, mins, maxs, end, hitsupercontentsmask);
1907 *trace = cached->result;
1911 memset(trace, 0, sizeof(*trace));
1912 trace->fraction = trace->realfraction = 1;
1914 Matrix4x4_Transform(inversematrix, start, starttransformed);
1915 Matrix4x4_Transform(inversematrix, end, endtransformed);
1916 #if COLLISIONPARANOID >= 3
1917 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]);
1920 if (model && model->TraceBox)
1922 if(model->TraceBrush && (inversematrix->m[0][1] || inversematrix->m[0][2] || inversematrix->m[1][0] || inversematrix->m[1][2] || inversematrix->m[2][0] || inversematrix->m[2][1]))
1924 // we get here if TraceBrush exists, AND we have a rotation component (SOLID_BSP case)
1925 // using starttransformed, endtransformed is WRONG in this case!
1926 // should rather build a brush and trace using it
1927 colboxbrushf_t thisbrush_start, thisbrush_end;
1928 Collision_BrushForBox(&thisbrush_start, mins, maxs, 0, 0, NULL);
1929 Collision_BrushForBox(&thisbrush_end, mins, maxs, 0, 0, NULL);
1930 Collision_TranslateBrush(start, &thisbrush_start.brush);
1931 Collision_TranslateBrush(end, &thisbrush_end.brush);
1932 Collision_TransformBrush(inversematrix, &thisbrush_start.brush);
1933 Collision_TransformBrush(inversematrix, &thisbrush_end.brush);
1934 //Collision_TranslateBrush(starttransformed, &thisbrush_start.brush);
1935 //Collision_TranslateBrush(endtransformed, &thisbrush_end.brush);
1936 model->TraceBrush(model, frameblend, skeleton, trace, &thisbrush_start.brush, &thisbrush_end.brush, hitsupercontentsmask);
1938 else // this is only approximate if rotated, quite useless
1939 model->TraceBox(model, frameblend, skeleton, trace, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask);
1941 else // and this requires that the transformation matrix doesn't have angles components, like SV_TraceBox ensures; FIXME may get called if a model is SOLID_BSP but has no TraceBox function
1942 Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, mins, maxs, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
1943 trace->fraction = bound(0, trace->fraction, 1);
1944 trace->realfraction = bound(0, trace->realfraction, 1);
1946 VectorLerp(start, trace->fraction, end, trace->endpos);
1948 // NOTE: this relies on plane.dist being directly after plane.normal
1949 Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
1951 cached->result = *trace;
1954 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)
1956 collision_cachedtrace_t *cached = Collision_Cache_Lookup(3, model, NULL, NULL, vec3_origin, vec3_origin, 0, &identitymatrix, &identitymatrix, start, mins, maxs, end, hitsupercontents);
1959 *trace = cached->result;
1963 memset(trace, 0, sizeof(*trace));
1964 trace->fraction = trace->realfraction = 1;
1965 // ->TraceBox: TraceBrush not needed here, as worldmodel is never rotated
1966 if (model && model->TraceBox)
1967 model->TraceBox(model, NULL, NULL, trace, start, mins, maxs, end, hitsupercontents);
1968 trace->fraction = bound(0, trace->fraction, 1);
1969 trace->realfraction = bound(0, trace->realfraction, 1);
1970 VectorLerp(start, trace->fraction, end, trace->endpos);
1972 cached->result = *trace;
1975 void Collision_ClipLineToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, const vec3_t end, int hitsupercontentsmask, qboolean hitsurfaces)
1977 float starttransformed[3], endtransformed[3];
1978 collision_cachedtrace_t *cached = Collision_Cache_Lookup(2, model, frameblend, skeleton, bodymins, bodymaxs, bodysupercontents, matrix, inversematrix, start, vec3_origin, vec3_origin, end, hitsupercontentsmask);
1981 *trace = cached->result;
1985 memset(trace, 0, sizeof(*trace));
1986 trace->fraction = trace->realfraction = 1;
1988 Matrix4x4_Transform(inversematrix, start, starttransformed);
1989 Matrix4x4_Transform(inversematrix, end, endtransformed);
1990 #if COLLISIONPARANOID >= 3
1991 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]);
1994 if (model && model->TraceLineAgainstSurfaces && hitsurfaces)
1995 model->TraceLineAgainstSurfaces(model, frameblend, skeleton, trace, starttransformed, endtransformed, hitsupercontentsmask);
1996 else if (model && model->TraceLine)
1997 model->TraceLine(model, frameblend, skeleton, trace, starttransformed, endtransformed, hitsupercontentsmask);
1999 Collision_ClipTrace_Box(trace, bodymins, bodymaxs, starttransformed, vec3_origin, vec3_origin, endtransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
2000 trace->fraction = bound(0, trace->fraction, 1);
2001 trace->realfraction = bound(0, trace->realfraction, 1);
2003 VectorLerp(start, trace->fraction, end, trace->endpos);
2005 // NOTE: this relies on plane.dist being directly after plane.normal
2006 Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
2008 cached->result = *trace;
2011 void Collision_ClipLineToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, const vec3_t end, int hitsupercontents, qboolean hitsurfaces)
2013 collision_cachedtrace_t *cached = Collision_Cache_Lookup(2, model, NULL, NULL, vec3_origin, vec3_origin, 0, &identitymatrix, &identitymatrix, start, vec3_origin, vec3_origin, end, hitsupercontents);
2016 *trace = cached->result;
2020 memset(trace, 0, sizeof(*trace));
2021 trace->fraction = trace->realfraction = 1;
2022 if (model && model->TraceLineAgainstSurfaces && hitsurfaces)
2023 model->TraceLineAgainstSurfaces(model, NULL, NULL, trace, start, end, hitsupercontents);
2024 else if (model && model->TraceLine)
2025 model->TraceLine(model, NULL, NULL, trace, start, end, hitsupercontents);
2026 trace->fraction = bound(0, trace->fraction, 1);
2027 trace->realfraction = bound(0, trace->realfraction, 1);
2028 VectorLerp(start, trace->fraction, end, trace->endpos);
2030 cached->result = *trace;
2033 void Collision_ClipPointToGenericEntity(trace_t *trace, dp_model_t *model, const frameblend_t *frameblend, const skeleton_t *skeleton, const vec3_t bodymins, const vec3_t bodymaxs, int bodysupercontents, matrix4x4_t *matrix, matrix4x4_t *inversematrix, const vec3_t start, int hitsupercontentsmask)
2035 float starttransformed[3];
2036 collision_cachedtrace_t *cached = Collision_Cache_Lookup(1, model, frameblend, skeleton, bodymins, bodymaxs, bodysupercontents, matrix, inversematrix, start, vec3_origin, vec3_origin, start, hitsupercontentsmask);
2039 *trace = cached->result;
2043 memset(trace, 0, sizeof(*trace));
2044 trace->fraction = trace->realfraction = 1;
2046 Matrix4x4_Transform(inversematrix, start, starttransformed);
2047 #if COLLISIONPARANOID >= 3
2048 Con_Printf("trans(%f %f %f -> %f %f %f)", start[0], start[1], start[2], starttransformed[0], starttransformed[1], starttransformed[2]);
2051 if (model && model->TracePoint)
2052 model->TracePoint(model, NULL, NULL, trace, starttransformed, hitsupercontentsmask);
2054 Collision_ClipTrace_Point(trace, bodymins, bodymaxs, starttransformed, hitsupercontentsmask, bodysupercontents, 0, NULL);
2056 VectorCopy(start, trace->endpos);
2058 // NOTE: this relies on plane.dist being directly after plane.normal
2059 Matrix4x4_TransformPositivePlane(matrix, trace->plane.normal[0], trace->plane.normal[1], trace->plane.normal[2], trace->plane.dist, trace->plane.normal);
2061 cached->result = *trace;
2064 void Collision_ClipPointToWorld(trace_t *trace, dp_model_t *model, const vec3_t start, int hitsupercontents)
2066 collision_cachedtrace_t *cached = Collision_Cache_Lookup(1, model, NULL, NULL, vec3_origin, vec3_origin, 0, &identitymatrix, &identitymatrix, start, vec3_origin, vec3_origin, start, hitsupercontents);
2069 *trace = cached->result;
2073 memset(trace, 0, sizeof(*trace));
2074 trace->fraction = trace->realfraction = 1;
2075 if (model && model->TracePoint)
2076 model->TracePoint(model, NULL, NULL, trace, start, hitsupercontents);
2077 VectorCopy(start, trace->endpos);
2079 cached->result = *trace;
2082 void Collision_CombineTraces(trace_t *cliptrace, const trace_t *trace, void *touch, qboolean isbmodel)
2084 // take the 'best' answers from the new trace and combine with existing data
2085 if (trace->allsolid)
2086 cliptrace->allsolid = true;
2087 if (trace->startsolid)
2090 cliptrace->bmodelstartsolid = true;
2091 cliptrace->startsolid = true;
2092 if (cliptrace->realfraction == 1)
2093 cliptrace->ent = touch;
2094 if (cliptrace->startdepth > trace->startdepth)
2096 cliptrace->startdepth = trace->startdepth;
2097 VectorCopy(trace->startdepthnormal, cliptrace->startdepthnormal);
2100 // don't set this except on the world, because it can easily confuse
2101 // monsters underwater if there's a bmodel involved in the trace
2102 // (inopen && inwater is how they check water visibility)
2103 //if (trace->inopen)
2104 // cliptrace->inopen = true;
2106 cliptrace->inwater = true;
2107 if ((trace->realfraction <= cliptrace->realfraction) && (VectorLength2(trace->plane.normal) > 0))
2109 cliptrace->fraction = trace->fraction;
2110 cliptrace->realfraction = trace->realfraction;
2111 VectorCopy(trace->endpos, cliptrace->endpos);
2112 cliptrace->plane = trace->plane;
2113 cliptrace->ent = touch;
2114 cliptrace->hitsupercontents = trace->hitsupercontents;
2115 cliptrace->hitq3surfaceflags = trace->hitq3surfaceflags;
2116 cliptrace->hittexture = trace->hittexture;
2118 cliptrace->startsupercontents |= trace->startsupercontents;
2121 void Collision_ShortenTrace(trace_t *trace, float shorten_factor, const vec3_t end)
2123 // now undo our moving end 1 qu farther...
2124 trace->fraction = bound(trace->fraction, trace->fraction / shorten_factor - 1e-6, 1); // we subtract 1e-6 to guard for roundoff errors
2125 trace->realfraction = bound(trace->realfraction, trace->realfraction / shorten_factor - 1e-6, 1); // we subtract 1e-6 to guard for roundoff errors
2126 if(trace->fraction >= 1) // trace would NOT hit if not expanded!
2128 trace->fraction = 1;
2129 trace->realfraction = 1;
2130 VectorCopy(end, trace->endpos);
2131 memset(&trace->plane, 0, sizeof(trace->plane));
2133 trace->hitsupercontentsmask = 0;
2134 trace->hitsupercontents = 0;
2135 trace->hitq3surfaceflags = 0;
2136 trace->hittexture = NULL;