642 lines
18 KiB
C++
642 lines
18 KiB
C++
/*
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===========================================================================
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Doom 3 GPL Source Code
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Copyright (C) 1999-2011 id Software LLC, a ZeniMax Media company.
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This file is part of the Doom 3 GPL Source Code (?Doom 3 Source Code?).
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Doom 3 Source Code is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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Doom 3 Source Code is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with Doom 3 Source Code. If not, see <http://www.gnu.org/licenses/>.
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In addition, the Doom 3 Source Code is also subject to certain additional terms. You should have received a copy of these additional terms immediately following the terms and conditions of the GNU General Public License which accompanied the Doom 3 Source Code. If not, please request a copy in writing from id Software at the address below.
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If you have questions concerning this license or the applicable additional terms, you may contact in writing id Software LLC, c/o ZeniMax Media Inc., Suite 120, Rockville, Maryland 20850 USA.
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===========================================================================
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*/
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/*
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===============================================================================
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Trace model vs. polygonal model collision detection.
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===============================================================================
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*/
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#include "../idlib/precompiled.h"
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#pragma hdrstop
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#include "CollisionModel_local.h"
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/*
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===============================================================================
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Contents test
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===============================================================================
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*/
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/*
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================
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idCollisionModelManagerLocal::TestTrmVertsInBrush
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returns true if any of the trm vertices is inside the brush
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================
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*/
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bool idCollisionModelManagerLocal::TestTrmVertsInBrush( cm_traceWork_t *tw, cm_brush_t *b ) {
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int i, j, numVerts, bestPlane;
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float d, bestd;
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idVec3 *p;
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if ( b->checkcount == idCollisionModelManagerLocal::checkCount ) {
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return false;
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}
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b->checkcount = idCollisionModelManagerLocal::checkCount;
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if ( !(b->contents & tw->contents) ) {
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return false;
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}
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// if the brush bounds don't intersect the trace bounds
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if ( !b->bounds.IntersectsBounds( tw->bounds ) ) {
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return false;
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}
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if ( tw->pointTrace ) {
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numVerts = 1;
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}
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else {
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numVerts = tw->numVerts;
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}
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for ( j = 0; j < numVerts; j++ ) {
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p = &tw->vertices[j].p;
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// see if the point is inside the brush
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bestPlane = 0;
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bestd = -idMath::INFINITY;
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for ( i = 0; i < b->numPlanes; i++ ) {
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d = b->planes[i].Distance( *p );
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if ( d >= 0.0f ) {
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break;
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}
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if ( d > bestd ) {
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bestd = d;
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bestPlane = i;
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}
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}
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if ( i >= b->numPlanes ) {
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_TRMVERTEX;
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tw->trace.c.normal = b->planes[bestPlane].Normal();
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tw->trace.c.dist = b->planes[bestPlane].Dist();
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tw->trace.c.contents = b->contents;
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tw->trace.c.material = b->material;
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tw->trace.c.point = *p;
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tw->trace.c.modelFeature = 0;
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tw->trace.c.trmFeature = j;
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return true;
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}
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}
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return false;
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}
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/*
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================
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CM_SetTrmEdgeSidedness
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================
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*/
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#define CM_SetTrmEdgeSidedness( edge, bpl, epl, bitNum ) { \
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if ( !(edge->sideSet & (1<<bitNum)) ) { \
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float fl; \
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fl = (bpl).PermutedInnerProduct( epl ); \
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edge->side = (edge->side & ~(1<<bitNum)) | (FLOATSIGNBITSET(fl) << bitNum); \
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edge->sideSet |= (1 << bitNum); \
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} \
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}
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/*
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================
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CM_SetTrmPolygonSidedness
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================
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*/
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#define CM_SetTrmPolygonSidedness( v, plane, bitNum ) { \
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if ( !((v)->sideSet & (1<<bitNum)) ) { \
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float fl; \
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fl = plane.Distance( (v)->p ); \
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/* cannot use float sign bit because it is undetermined when fl == 0.0f */ \
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if ( fl < 0.0f ) { \
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(v)->side |= (1 << bitNum); \
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} \
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else { \
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(v)->side &= ~(1 << bitNum); \
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} \
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(v)->sideSet |= (1 << bitNum); \
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} \
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}
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/*
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================
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idCollisionModelManagerLocal::TestTrmInPolygon
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returns true if the trm intersects the polygon
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================
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*/
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bool idCollisionModelManagerLocal::TestTrmInPolygon( cm_traceWork_t *tw, cm_polygon_t *p ) {
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int i, j, k, edgeNum, flip, trmEdgeNum, bitNum, bestPlane;
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int sides[MAX_TRACEMODEL_VERTS];
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float d, bestd;
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cm_trmEdge_t *trmEdge;
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cm_edge_t *edge;
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cm_vertex_t *v, *v1, *v2;
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// if already checked this polygon
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if ( p->checkcount == idCollisionModelManagerLocal::checkCount ) {
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return false;
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}
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p->checkcount = idCollisionModelManagerLocal::checkCount;
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// if this polygon does not have the right contents behind it
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if ( !(p->contents & tw->contents) ) {
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return false;
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}
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// if the polygon bounds don't intersect the trace bounds
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if ( !p->bounds.IntersectsBounds( tw->bounds ) ) {
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return false;
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}
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// bounds should cross polygon plane
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switch( tw->bounds.PlaneSide( p->plane ) ) {
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case PLANESIDE_CROSS:
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break;
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case PLANESIDE_FRONT:
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if ( tw->model->isConvex ) {
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tw->quickExit = true;
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return true;
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}
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default:
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return false;
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}
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// if the trace model is convex
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if ( tw->isConvex ) {
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// test if any polygon vertices are inside the trm
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for ( i = 0; i < p->numEdges; i++ ) {
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edgeNum = p->edges[i];
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edge = tw->model->edges + abs(edgeNum);
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// if this edge is already tested
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if ( edge->checkcount == idCollisionModelManagerLocal::checkCount ) {
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continue;
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}
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for ( j = 0; j < 2; j++ ) {
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v = &tw->model->vertices[edge->vertexNum[j]];
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// if this vertex is already tested
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if ( v->checkcount == idCollisionModelManagerLocal::checkCount ) {
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continue;
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}
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bestPlane = 0;
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bestd = -idMath::INFINITY;
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for ( k = 0; k < tw->numPolys; k++ ) {
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d = tw->polys[k].plane.Distance( v->p );
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if ( d >= 0.0f ) {
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break;
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}
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if ( d > bestd ) {
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bestd = d;
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bestPlane = k;
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}
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}
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if ( k >= tw->numPolys ) {
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_MODELVERTEX;
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tw->trace.c.normal = -tw->polys[bestPlane].plane.Normal();
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tw->trace.c.dist = -tw->polys[bestPlane].plane.Dist();
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tw->trace.c.contents = p->contents;
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tw->trace.c.material = p->material;
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tw->trace.c.point = v->p;
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tw->trace.c.modelFeature = edge->vertexNum[j];
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tw->trace.c.trmFeature = 0;
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return true;
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}
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}
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}
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}
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for ( i = 0; i < p->numEdges; i++ ) {
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edgeNum = p->edges[i];
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edge = tw->model->edges + abs(edgeNum);
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// reset sidedness cache if this is the first time we encounter this edge
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if ( edge->checkcount != idCollisionModelManagerLocal::checkCount ) {
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edge->sideSet = 0;
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}
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// pluecker coordinate for edge
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tw->polygonEdgePlueckerCache[i].FromLine( tw->model->vertices[edge->vertexNum[0]].p,
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tw->model->vertices[edge->vertexNum[1]].p );
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v = &tw->model->vertices[edge->vertexNum[INTSIGNBITSET(edgeNum)]];
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// reset sidedness cache if this is the first time we encounter this vertex
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if ( v->checkcount != idCollisionModelManagerLocal::checkCount ) {
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v->sideSet = 0;
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}
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v->checkcount = idCollisionModelManagerLocal::checkCount;
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}
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// get side of polygon for each trm vertex
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for ( i = 0; i < tw->numVerts; i++ ) {
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d = p->plane.Distance( tw->vertices[i].p );
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sides[i] = d < 0.0f ? -1 : 1;
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}
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// test if any trm edges go through the polygon
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for ( i = 1; i <= tw->numEdges; i++ ) {
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// if the trm edge does not cross the polygon plane
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if ( sides[tw->edges[i].vertexNum[0]] == sides[tw->edges[i].vertexNum[1]] ) {
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continue;
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}
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// check from which side to which side the trm edge goes
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flip = INTSIGNBITSET( sides[tw->edges[i].vertexNum[0]] );
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// test if trm edge goes through the polygon between the polygon edges
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for ( j = 0; j < p->numEdges; j++ ) {
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edgeNum = p->edges[j];
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edge = tw->model->edges + abs(edgeNum);
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#if 1
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CM_SetTrmEdgeSidedness( edge, tw->edges[i].pl, tw->polygonEdgePlueckerCache[j], i );
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if ( INTSIGNBITSET(edgeNum) ^ ((edge->side >> i) & 1) ^ flip ) {
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break;
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}
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#else
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d = tw->edges[i].pl.PermutedInnerProduct( tw->polygonEdgePlueckerCache[j] );
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if ( flip ) {
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d = -d;
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}
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if ( edgeNum > 0 ) {
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if ( d <= 0.0f ) {
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break;
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}
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}
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else {
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if ( d >= 0.0f ) {
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break;
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}
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}
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#endif
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}
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if ( j >= p->numEdges ) {
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_EDGE;
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tw->trace.c.normal = p->plane.Normal();
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tw->trace.c.dist = p->plane.Dist();
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tw->trace.c.contents = p->contents;
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tw->trace.c.material = p->material;
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tw->trace.c.point = tw->vertices[tw->edges[i].vertexNum[ !flip ]].p;
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tw->trace.c.modelFeature = *reinterpret_cast<int *>(&p);
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tw->trace.c.trmFeature = i;
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return true;
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}
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}
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// test if any polygon edges go through the trm polygons
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for ( i = 0; i < p->numEdges; i++ ) {
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edgeNum = p->edges[i];
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edge = tw->model->edges + abs(edgeNum);
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if ( edge->checkcount == idCollisionModelManagerLocal::checkCount ) {
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continue;
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}
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edge->checkcount = idCollisionModelManagerLocal::checkCount;
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for ( j = 0; j < tw->numPolys; j++ ) {
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#if 1
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v1 = tw->model->vertices + edge->vertexNum[0];
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CM_SetTrmPolygonSidedness( v1, tw->polys[j].plane, j );
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v2 = tw->model->vertices + edge->vertexNum[1];
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CM_SetTrmPolygonSidedness( v2, tw->polys[j].plane, j );
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// if the polygon edge does not cross the trm polygon plane
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if ( !(((v1->side ^ v2->side) >> j) & 1) ) {
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continue;
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}
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flip = (v1->side >> j) & 1;
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#else
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float d1, d2;
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v1 = tw->model->vertices + edge->vertexNum[0];
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d1 = tw->polys[j].plane.Distance( v1->p );
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v2 = tw->model->vertices + edge->vertexNum[1];
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d2 = tw->polys[j].plane.Distance( v2->p );
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// if the polygon edge does not cross the trm polygon plane
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if ( (d1 >= 0.0f && d2 >= 0.0f) || (d1 <= 0.0f && d2 <= 0.0f) ) {
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continue;
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}
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flip = false;
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if ( d1 < 0.0f ) {
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flip = true;
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}
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#endif
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// test if polygon edge goes through the trm polygon between the trm polygon edges
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for ( k = 0; k < tw->polys[j].numEdges; k++ ) {
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trmEdgeNum = tw->polys[j].edges[k];
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trmEdge = tw->edges + abs(trmEdgeNum);
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#if 1
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bitNum = abs(trmEdgeNum);
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CM_SetTrmEdgeSidedness( edge, trmEdge->pl, tw->polygonEdgePlueckerCache[i], bitNum );
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if ( INTSIGNBITSET(trmEdgeNum) ^ ((edge->side >> bitNum) & 1) ^ flip ) {
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break;
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}
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#else
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d = trmEdge->pl.PermutedInnerProduct( tw->polygonEdgePlueckerCache[i] );
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if ( flip ) {
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d = -d;
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}
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if ( trmEdgeNum > 0 ) {
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if ( d <= 0.0f ) {
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break;
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}
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}
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else {
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if ( d >= 0.0f ) {
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break;
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}
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}
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#endif
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}
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if ( k >= tw->polys[j].numEdges ) {
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tw->trace.fraction = 0.0f;
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tw->trace.c.type = CONTACT_EDGE;
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tw->trace.c.normal = -tw->polys[j].plane.Normal();
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tw->trace.c.dist = -tw->polys[j].plane.Dist();
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tw->trace.c.contents = p->contents;
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tw->trace.c.material = p->material;
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tw->trace.c.point = tw->model->vertices[edge->vertexNum[ !flip ]].p;
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tw->trace.c.modelFeature = edgeNum;
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tw->trace.c.trmFeature = j;
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return true;
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}
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}
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}
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return false;
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}
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/*
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================
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idCollisionModelManagerLocal::PointNode
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================
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*/
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cm_node_t *idCollisionModelManagerLocal::PointNode( const idVec3 &p, cm_model_t *model ) {
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cm_node_t *node;
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node = model->node;
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while ( node->planeType != -1 ) {
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if (p[node->planeType] > node->planeDist) {
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node = node->children[0];
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}
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else {
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node = node->children[1];
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}
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assert( node != NULL );
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}
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return node;
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}
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/*
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================
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idCollisionModelManagerLocal::PointContents
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================
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*/
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int idCollisionModelManagerLocal::PointContents( const idVec3 p, cmHandle_t model ) {
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int i;
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float d;
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cm_node_t *node;
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cm_brushRef_t *bref;
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cm_brush_t *b;
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idPlane *plane;
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node = idCollisionModelManagerLocal::PointNode( p, idCollisionModelManagerLocal::models[model] );
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for ( bref = node->brushes; bref; bref = bref->next ) {
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b = bref->b;
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// test if the point is within the brush bounds
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for ( i = 0; i < 3; i++ ) {
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if ( p[i] < b->bounds[0][i] ) {
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break;
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}
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if ( p[i] > b->bounds[1][i] ) {
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break;
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}
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}
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if ( i < 3 ) {
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continue;
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}
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// test if the point is inside the brush
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plane = b->planes;
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for ( i = 0; i < b->numPlanes; i++, plane++ ) {
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d = plane->Distance( p );
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if ( d >= 0 ) {
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break;
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}
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}
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if ( i >= b->numPlanes ) {
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return b->contents;
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}
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}
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return 0;
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}
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/*
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==================
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idCollisionModelManagerLocal::TransformedPointContents
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==================
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*/
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int idCollisionModelManagerLocal::TransformedPointContents( const idVec3 &p, cmHandle_t model, const idVec3 &origin, const idMat3 &modelAxis ) {
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idVec3 p_l;
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// subtract origin offset
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p_l = p - origin;
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if ( modelAxis.IsRotated() ) {
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p_l *= modelAxis;
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}
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return idCollisionModelManagerLocal::PointContents( p_l, model );
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}
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/*
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==================
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idCollisionModelManagerLocal::ContentsTrm
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==================
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*/
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int idCollisionModelManagerLocal::ContentsTrm( trace_t *results, const idVec3 &start,
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const idTraceModel *trm, const idMat3 &trmAxis, int contentMask,
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cmHandle_t model, const idVec3 &modelOrigin, const idMat3 &modelAxis ) {
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int i;
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bool model_rotated, trm_rotated;
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idMat3 invModelAxis, tmpAxis;
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idVec3 dir;
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ALIGN16( cm_traceWork_t tw );
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// fast point case
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if ( !trm || ( trm->bounds[1][0] - trm->bounds[0][0] <= 0.0f &&
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trm->bounds[1][1] - trm->bounds[0][1] <= 0.0f &&
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trm->bounds[1][2] - trm->bounds[0][2] <= 0.0f ) ) {
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results->c.contents = idCollisionModelManagerLocal::TransformedPointContents( start, model, modelOrigin, modelAxis );
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results->fraction = ( results->c.contents == 0 );
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results->endpos = start;
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results->endAxis = trmAxis;
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return results->c.contents;
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}
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idCollisionModelManagerLocal::checkCount++;
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tw.trace.fraction = 1.0f;
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tw.trace.c.contents = 0;
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tw.trace.c.type = CONTACT_NONE;
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tw.contents = contentMask;
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tw.isConvex = true;
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tw.rotation = false;
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tw.positionTest = true;
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tw.pointTrace = false;
|
|
tw.quickExit = false;
|
|
tw.numContacts = 0;
|
|
tw.model = idCollisionModelManagerLocal::models[model];
|
|
tw.start = start - modelOrigin;
|
|
tw.end = tw.start;
|
|
|
|
model_rotated = modelAxis.IsRotated();
|
|
if ( model_rotated ) {
|
|
invModelAxis = modelAxis.Transpose();
|
|
}
|
|
|
|
// setup trm structure
|
|
idCollisionModelManagerLocal::SetupTrm( &tw, trm );
|
|
|
|
trm_rotated = trmAxis.IsRotated();
|
|
|
|
// calculate vertex positions
|
|
if ( trm_rotated ) {
|
|
for ( i = 0; i < tw.numVerts; i++ ) {
|
|
// rotate trm around the start position
|
|
tw.vertices[i].p *= trmAxis;
|
|
}
|
|
}
|
|
for ( i = 0; i < tw.numVerts; i++ ) {
|
|
// set trm at start position
|
|
tw.vertices[i].p += tw.start;
|
|
}
|
|
if ( model_rotated ) {
|
|
for ( i = 0; i < tw.numVerts; i++ ) {
|
|
// rotate trm around model instead of rotating the model
|
|
tw.vertices[i].p *= invModelAxis;
|
|
}
|
|
}
|
|
|
|
// add offset to start point
|
|
if ( trm_rotated ) {
|
|
dir = trm->offset * trmAxis;
|
|
tw.start += dir;
|
|
tw.end += dir;
|
|
} else {
|
|
tw.start += trm->offset;
|
|
tw.end += trm->offset;
|
|
}
|
|
if ( model_rotated ) {
|
|
// rotate trace instead of model
|
|
tw.start *= invModelAxis;
|
|
tw.end *= invModelAxis;
|
|
}
|
|
|
|
|
|
// setup trm vertices
|
|
tw.size.Clear();
|
|
for ( i = 0; i < tw.numVerts; i++ ) {
|
|
// get axial trm size after rotations
|
|
tw.size.AddPoint( tw.vertices[i].p - tw.start );
|
|
}
|
|
|
|
// setup trm edges
|
|
for ( i = 1; i <= tw.numEdges; i++ ) {
|
|
// edge start, end and pluecker coordinate
|
|
tw.edges[i].start = tw.vertices[tw.edges[i].vertexNum[0]].p;
|
|
tw.edges[i].end = tw.vertices[tw.edges[i].vertexNum[1]].p;
|
|
tw.edges[i].pl.FromLine( tw.edges[i].start, tw.edges[i].end );
|
|
}
|
|
|
|
// setup trm polygons
|
|
if ( trm_rotated & model_rotated ) {
|
|
tmpAxis = trmAxis * invModelAxis;
|
|
for ( i = 0; i < tw.numPolys; i++ ) {
|
|
tw.polys[i].plane *= tmpAxis;
|
|
}
|
|
} else if ( trm_rotated ) {
|
|
for ( i = 0; i < tw.numPolys; i++ ) {
|
|
tw.polys[i].plane *= trmAxis;
|
|
}
|
|
} else if ( model_rotated ) {
|
|
for ( i = 0; i < tw.numPolys; i++ ) {
|
|
tw.polys[i].plane *= invModelAxis;
|
|
}
|
|
}
|
|
for ( i = 0; i < tw.numPolys; i++ ) {
|
|
tw.polys[i].plane.FitThroughPoint( tw.edges[abs(tw.polys[i].edges[0])].start );
|
|
}
|
|
|
|
// bounds for full trace, a little bit larger for epsilons
|
|
for ( i = 0; i < 3; i++ ) {
|
|
if ( tw.start[i] < tw.end[i] ) {
|
|
tw.bounds[0][i] = tw.start[i] + tw.size[0][i] - CM_BOX_EPSILON;
|
|
tw.bounds[1][i] = tw.end[i] + tw.size[1][i] + CM_BOX_EPSILON;
|
|
} else {
|
|
tw.bounds[0][i] = tw.end[i] + tw.size[0][i] - CM_BOX_EPSILON;
|
|
tw.bounds[1][i] = tw.start[i] + tw.size[1][i] + CM_BOX_EPSILON;
|
|
}
|
|
if ( idMath::Fabs(tw.size[0][i]) > idMath::Fabs(tw.size[1][i]) ) {
|
|
tw.extents[i] = idMath::Fabs( tw.size[0][i] ) + CM_BOX_EPSILON;
|
|
} else {
|
|
tw.extents[i] = idMath::Fabs( tw.size[1][i] ) + CM_BOX_EPSILON;
|
|
}
|
|
}
|
|
|
|
// trace through the model
|
|
idCollisionModelManagerLocal::TraceThroughModel( &tw );
|
|
|
|
*results = tw.trace;
|
|
results->fraction = ( results->c.contents == 0 );
|
|
results->endpos = start;
|
|
results->endAxis = trmAxis;
|
|
|
|
return results->c.contents;
|
|
}
|
|
|
|
/*
|
|
==================
|
|
idCollisionModelManagerLocal::Contents
|
|
==================
|
|
*/
|
|
int idCollisionModelManagerLocal::Contents( const idVec3 &start,
|
|
const idTraceModel *trm, const idMat3 &trmAxis, int contentMask,
|
|
cmHandle_t model, const idVec3 &modelOrigin, const idMat3 &modelAxis ) {
|
|
trace_t results;
|
|
|
|
if ( model < 0 || model > idCollisionModelManagerLocal::maxModels || model > MAX_SUBMODELS ) {
|
|
common->Printf("idCollisionModelManagerLocal::Contents: invalid model handle\n");
|
|
return 0;
|
|
}
|
|
if ( !idCollisionModelManagerLocal::models || !idCollisionModelManagerLocal::models[model] ) {
|
|
common->Printf("idCollisionModelManagerLocal::Contents: invalid model\n");
|
|
return 0;
|
|
}
|
|
|
|
return ContentsTrm( &results, start, trm, trmAxis, contentMask, model, modelOrigin, modelAxis );
|
|
}
|