mirror of
https://github.com/dhewm/dhewm3.git
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736ec20d4d
Don't include the lazy precompiled.h everywhere, only what's required for the compilation unit. platform.h needs to be included instead to provide all essential defines and types. All includes use the relative path to the neo or the game specific root. Move all idlib related includes from idlib/Lib.h to precompiled.h. precompiled.h still exists for the MFC stuff in tools/. Add some missing header guards.
640 lines
18 KiB
C++
640 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 "sys/platform.h"
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#include "cm/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;
|
|
tw.trace.c.contents = 0;
|
|
tw.trace.c.type = CONTACT_NONE;
|
|
tw.contents = contentMask;
|
|
tw.isConvex = true;
|
|
tw.rotation = false;
|
|
tw.positionTest = true;
|
|
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 );
|
|
}
|