/* =========================================================================== Copyright (C) 1999-2005 Id Software, Inc. This file is part of Quake III Arena source code. Quake III Arena source code is free software; you can redistribute it and/or modify it under the terms of the GNU General Public License as published by the Free Software Foundation; either version 2 of the License, or (at your option) any later version. Quake III Arena source code is distributed in the hope that it will be useful, but WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for more details. You should have received a copy of the GNU General Public License along with Quake III Arena source code; if not, write to the Free Software Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA =========================================================================== */ #include "cm_local.h" // always use bbox vs. bbox collision and never capsule vs. bbox or vice versa //#define ALWAYS_BBOX_VS_BBOX // always use capsule vs. capsule collision and never capsule vs. bbox or vice versa //#define ALWAYS_CAPSULE_VS_CAPSULE //#define CAPSULE_DEBUG /* =============================================================================== BASIC MATH =============================================================================== */ /* ================ RotatePoint ================ */ void RotatePoint(vec3_t point, /*const*/ vec3_t matrix[3]) { // bk: FIXME vec3_t tvec; VectorCopy(point, tvec); point[0] = DotProduct(matrix[0], tvec); point[1] = DotProduct(matrix[1], tvec); point[2] = DotProduct(matrix[2], tvec); } /* ================ TransposeMatrix ================ */ void TransposeMatrix(/*const*/ vec3_t matrix[3], vec3_t transpose[3]) { // bk: FIXME int i, j; for (i = 0; i < 3; i++) { for (j = 0; j < 3; j++) { transpose[i][j] = matrix[j][i]; } } } /* ================ CreateRotationMatrix ================ */ void CreateRotationMatrix(const vec3_t angles, vec3_t matrix[3]) { AngleVectors(angles, matrix[0], matrix[1], matrix[2]); VectorInverse(matrix[1]); } /* ================ CM_ProjectPointOntoVector ================ */ void CM_ProjectPointOntoVector( vec3_t point, vec3_t vStart, vec3_t vDir, vec3_t vProj ) { vec3_t pVec; VectorSubtract( point, vStart, pVec ); // project onto the directional vector for this segment VectorMA( vStart, DotProduct( pVec, vDir ), vDir, vProj ); } /* ================ CM_DistanceFromLineSquared ================ */ float CM_DistanceFromLineSquared(vec3_t p, vec3_t lp1, vec3_t lp2, vec3_t dir) { vec3_t proj, t; int j; CM_ProjectPointOntoVector(p, lp1, dir, proj); for (j = 0; j < 3; j++) if ((proj[j] > lp1[j] && proj[j] > lp2[j]) || (proj[j] < lp1[j] && proj[j] < lp2[j])) break; if (j < 3) { if (fabs(proj[j] - lp1[j]) < fabs(proj[j] - lp2[j])) VectorSubtract(p, lp1, t); else VectorSubtract(p, lp2, t); return VectorLengthSquared(t); } VectorSubtract(p, proj, t); return VectorLengthSquared(t); } /* ================ CM_VectorDistanceSquared ================ */ float CM_VectorDistanceSquared(vec3_t p1, vec3_t p2) { vec3_t dir; VectorSubtract(p2, p1, dir); return VectorLengthSquared(dir); } /* ================ SquareRootFloat ================ */ float SquareRootFloat(float number) { union { float f; int i; } t; float x, y; const float f = 1.5F; x = number * 0.5F; t.f = number; t.i = 0x5f3759df - ( t.i >> 1 ); y = t.f; y = y * ( f - ( x * y * y ) ); y = y * ( f - ( x * y * y ) ); return number * y; } /* =============================================================================== POSITION TESTING =============================================================================== */ /* ================ CM_TestBoxInBrush ================ */ void CM_TestBoxInBrush( traceWork_t *tw, cbrush_t *brush ) { int i; cplane_t *plane; float dist; float d1; cbrushside_t *side; float t; vec3_t startp; if (!brush->numsides) { return; } // special test for axial if ( tw->bounds[0][0] > brush->bounds[1][0] || tw->bounds[0][1] > brush->bounds[1][1] || tw->bounds[0][2] > brush->bounds[1][2] || tw->bounds[1][0] < brush->bounds[0][0] || tw->bounds[1][1] < brush->bounds[0][1] || tw->bounds[1][2] < brush->bounds[0][2] ) { return; } if ( tw->sphere.use ) { // the first six planes are the axial planes, so we only // need to test the remainder for ( i = 6 ; i < brush->numsides ; i++ ) { side = brush->sides + i; plane = side->plane; // adjust the plane distance apropriately for radius dist = plane->dist + tw->sphere.radius; // find the closest point on the capsule to the plane t = DotProduct( plane->normal, tw->sphere.offset ); if ( t > 0 ) { VectorSubtract( tw->start, tw->sphere.offset, startp ); } else { VectorAdd( tw->start, tw->sphere.offset, startp ); } d1 = DotProduct( startp, plane->normal ) - dist; // if completely in front of face, no intersection if ( d1 > 0 ) { return; } } } else { // the first six planes are the axial planes, so we only // need to test the remainder for ( i = 6 ; i < brush->numsides ; i++ ) { side = brush->sides + i; plane = side->plane; // adjust the plane distance apropriately for mins/maxs dist = plane->dist - DotProduct( tw->offsets[ plane->signbits ], plane->normal ); d1 = DotProduct( tw->start, plane->normal ) - dist; // if completely in front of face, no intersection if ( d1 > 0 ) { return; } } } // inside this brush tw->trace.startsolid = tw->trace.allsolid = qtrue; tw->trace.fraction = 0; tw->trace.contents = brush->contents; } /* ================ CM_TestInLeaf ================ */ void CM_TestInLeaf( traceWork_t *tw, cLeaf_t *leaf ) { int k; int brushnum; cbrush_t *b; cPatch_t *patch; // test box position against all brushes in the leaf for (k=0 ; k<leaf->numLeafBrushes ; k++) { brushnum = cm.leafbrushes[leaf->firstLeafBrush+k]; b = &cm.brushes[brushnum]; if (b->checkcount == cm.checkcount) { continue; // already checked this brush in another leaf } b->checkcount = cm.checkcount; if ( !(b->contents & tw->contents)) { continue; } CM_TestBoxInBrush( tw, b ); if ( tw->trace.allsolid ) { return; } } // test against all patches #ifdef BSPC if (1) { #else if ( !cm_noCurves->integer ) { #endif //BSPC for ( k = 0 ; k < leaf->numLeafSurfaces ; k++ ) { patch = cm.surfaces[ cm.leafsurfaces[ leaf->firstLeafSurface + k ] ]; if ( !patch ) { continue; } if ( patch->checkcount == cm.checkcount ) { continue; // already checked this brush in another leaf } patch->checkcount = cm.checkcount; if ( !(patch->contents & tw->contents)) { continue; } if ( CM_PositionTestInPatchCollide( tw, patch->pc ) ) { tw->trace.startsolid = tw->trace.allsolid = qtrue; tw->trace.fraction = 0; tw->trace.contents = patch->contents; return; } } } } /* ================== CM_TestCapsuleInCapsule capsule inside capsule check ================== */ void CM_TestCapsuleInCapsule( traceWork_t *tw, clipHandle_t model ) { int i; vec3_t mins, maxs; vec3_t top, bottom; vec3_t p1, p2, tmp; vec3_t offset, symetricSize[2]; float radius, halfwidth, halfheight, offs, r; CM_ModelBounds(model, mins, maxs); VectorAdd(tw->start, tw->sphere.offset, top); VectorSubtract(tw->start, tw->sphere.offset, bottom); for ( i = 0 ; i < 3 ; i++ ) { offset[i] = ( mins[i] + maxs[i] ) * 0.5; symetricSize[0][i] = mins[i] - offset[i]; symetricSize[1][i] = maxs[i] - offset[i]; } halfwidth = symetricSize[ 1 ][ 0 ]; halfheight = symetricSize[ 1 ][ 2 ]; radius = ( halfwidth > halfheight ) ? halfheight : halfwidth; offs = halfheight - radius; r = Square(tw->sphere.radius + radius); // check if any of the spheres overlap VectorCopy(offset, p1); p1[2] += offs; VectorSubtract(p1, top, tmp); if ( VectorLengthSquared(tmp) < r ) { tw->trace.startsolid = tw->trace.allsolid = qtrue; tw->trace.fraction = 0; } VectorSubtract(p1, bottom, tmp); if ( VectorLengthSquared(tmp) < r ) { tw->trace.startsolid = tw->trace.allsolid = qtrue; tw->trace.fraction = 0; } VectorCopy(offset, p2); p2[2] -= offs; VectorSubtract(p2, top, tmp); if ( VectorLengthSquared(tmp) < r ) { tw->trace.startsolid = tw->trace.allsolid = qtrue; tw->trace.fraction = 0; } VectorSubtract(p2, bottom, tmp); if ( VectorLengthSquared(tmp) < r ) { tw->trace.startsolid = tw->trace.allsolid = qtrue; tw->trace.fraction = 0; } // if between cylinder up and lower bounds if ( (top[2] >= p1[2] && top[2] <= p2[2]) || (bottom[2] >= p1[2] && bottom[2] <= p2[2]) ) { // 2d coordinates top[2] = p1[2] = 0; // if the cylinders overlap VectorSubtract(top, p1, tmp); if ( VectorLengthSquared(tmp) < r ) { tw->trace.startsolid = tw->trace.allsolid = qtrue; tw->trace.fraction = 0; } } } /* ================== CM_TestBoundingBoxInCapsule bounding box inside capsule check ================== */ void CM_TestBoundingBoxInCapsule( traceWork_t *tw, clipHandle_t model ) { vec3_t mins, maxs, offset, size[2]; clipHandle_t h; cmodel_t *cmod; int i; // mins maxs of the capsule CM_ModelBounds(model, mins, maxs); // offset for capsule center for ( i = 0 ; i < 3 ; i++ ) { offset[i] = ( mins[i] + maxs[i] ) * 0.5; size[0][i] = mins[i] - offset[i]; size[1][i] = maxs[i] - offset[i]; tw->start[i] -= offset[i]; tw->end[i] -= offset[i]; } // replace the bounding box with the capsule tw->sphere.use = qtrue; tw->sphere.radius = ( size[1][0] > size[1][2] ) ? size[1][2]: size[1][0]; tw->sphere.halfheight = size[1][2]; VectorSet( tw->sphere.offset, 0, 0, size[1][2] - tw->sphere.radius ); // replace the capsule with the bounding box h = CM_TempBoxModel(tw->size[0], tw->size[1], qfalse); // calculate collision cmod = CM_ClipHandleToModel( h ); CM_TestInLeaf( tw, &cmod->leaf ); } /* ================== CM_PositionTest ================== */ #define MAX_POSITION_LEAFS 1024 void CM_PositionTest( traceWork_t *tw ) { int leafs[MAX_POSITION_LEAFS]; int i; leafList_t ll; // identify the leafs we are touching VectorAdd( tw->start, tw->size[0], ll.bounds[0] ); VectorAdd( tw->start, tw->size[1], ll.bounds[1] ); for (i=0 ; i<3 ; i++) { ll.bounds[0][i] -= 1; ll.bounds[1][i] += 1; } ll.count = 0; ll.maxcount = MAX_POSITION_LEAFS; ll.list = leafs; ll.storeLeafs = CM_StoreLeafs; ll.lastLeaf = 0; ll.overflowed = qfalse; cm.checkcount++; CM_BoxLeafnums_r( &ll, 0 ); cm.checkcount++; // test the contents of the leafs for (i=0 ; i < ll.count ; i++) { CM_TestInLeaf( tw, &cm.leafs[leafs[i]] ); if ( tw->trace.allsolid ) { break; } } } /* =============================================================================== TRACING =============================================================================== */ /* ================ CM_TraceThroughPatch ================ */ void CM_TraceThroughPatch( traceWork_t *tw, cPatch_t *patch ) { float oldFrac; c_patch_traces++; oldFrac = tw->trace.fraction; CM_TraceThroughPatchCollide( tw, patch->pc ); if ( tw->trace.fraction < oldFrac ) { tw->trace.surfaceFlags = patch->surfaceFlags; tw->trace.contents = patch->contents; } } /* ================ CM_TraceThroughBrush ================ */ void CM_TraceThroughBrush( traceWork_t *tw, cbrush_t *brush ) { int i; cplane_t *plane, *clipplane; float dist; float enterFrac, leaveFrac; float d1, d2; qboolean getout, startout; float f; cbrushside_t *side, *leadside; float t; vec3_t startp; vec3_t endp; enterFrac = -1.0; leaveFrac = 1.0; clipplane = NULL; if ( !brush->numsides ) { return; } c_brush_traces++; getout = qfalse; startout = qfalse; leadside = NULL; if ( tw->sphere.use ) { // // compare the trace against all planes of the brush // find the latest time the trace crosses a plane towards the interior // and the earliest time the trace crosses a plane towards the exterior // for (i = 0; i < brush->numsides; i++) { side = brush->sides + i; plane = side->plane; // adjust the plane distance apropriately for radius dist = plane->dist + tw->sphere.radius; // find the closest point on the capsule to the plane t = DotProduct( plane->normal, tw->sphere.offset ); if ( t > 0 ) { VectorSubtract( tw->start, tw->sphere.offset, startp ); VectorSubtract( tw->end, tw->sphere.offset, endp ); } else { VectorAdd( tw->start, tw->sphere.offset, startp ); VectorAdd( tw->end, tw->sphere.offset, endp ); } d1 = DotProduct( startp, plane->normal ) - dist; d2 = DotProduct( endp, plane->normal ) - dist; if (d2 > 0) { getout = qtrue; // endpoint is not in solid } if (d1 > 0) { startout = qtrue; } // if completely in front of face, no intersection with the entire brush if (d1 > 0 && ( d2 >= SURFACE_CLIP_EPSILON || d2 >= d1 ) ) { return; } // if it doesn't cross the plane, the plane isn't relevent if (d1 <= 0 && d2 <= 0 ) { continue; } // crosses face if (d1 > d2) { // enter f = (d1-SURFACE_CLIP_EPSILON) / (d1-d2); if ( f < 0 ) { f = 0; } if (f > enterFrac) { enterFrac = f; clipplane = plane; leadside = side; } } else { // leave f = (d1+SURFACE_CLIP_EPSILON) / (d1-d2); if ( f > 1 ) { f = 1; } if (f < leaveFrac) { leaveFrac = f; } } } } else { // // compare the trace against all planes of the brush // find the latest time the trace crosses a plane towards the interior // and the earliest time the trace crosses a plane towards the exterior // for (i = 0; i < brush->numsides; i++) { side = brush->sides + i; plane = side->plane; // adjust the plane distance apropriately for mins/maxs dist = plane->dist - DotProduct( tw->offsets[ plane->signbits ], plane->normal ); d1 = DotProduct( tw->start, plane->normal ) - dist; d2 = DotProduct( tw->end, plane->normal ) - dist; if (d2 > 0) { getout = qtrue; // endpoint is not in solid } if (d1 > 0) { startout = qtrue; } // if completely in front of face, no intersection with the entire brush if (d1 > 0 && ( d2 >= SURFACE_CLIP_EPSILON || d2 >= d1 ) ) { return; } // if it doesn't cross the plane, the plane isn't relevent if (d1 <= 0 && d2 <= 0 ) { continue; } // crosses face if (d1 > d2) { // enter f = (d1-SURFACE_CLIP_EPSILON) / (d1-d2); if ( f < 0 ) { f = 0; } if (f > enterFrac) { enterFrac = f; clipplane = plane; leadside = side; } } else { // leave f = (d1+SURFACE_CLIP_EPSILON) / (d1-d2); if ( f > 1 ) { f = 1; } if (f < leaveFrac) { leaveFrac = f; } } } } // // all planes have been checked, and the trace was not // completely outside the brush // if (!startout) { // original point was inside brush tw->trace.startsolid = qtrue; if (!getout) { tw->trace.allsolid = qtrue; tw->trace.fraction = 0; tw->trace.contents = brush->contents; } return; } if (enterFrac < leaveFrac) { if (enterFrac > -1 && enterFrac < tw->trace.fraction) { if (enterFrac < 0) { enterFrac = 0; } tw->trace.fraction = enterFrac; tw->trace.plane = *clipplane; tw->trace.surfaceFlags = leadside->surfaceFlags; tw->trace.contents = brush->contents; } } } /* ================ CM_TraceThroughLeaf ================ */ void CM_TraceThroughLeaf( traceWork_t *tw, cLeaf_t *leaf ) { int k; int brushnum; cbrush_t *b; cPatch_t *patch; // trace line against all brushes in the leaf for ( k = 0 ; k < leaf->numLeafBrushes ; k++ ) { brushnum = cm.leafbrushes[leaf->firstLeafBrush+k]; b = &cm.brushes[brushnum]; if ( b->checkcount == cm.checkcount ) { continue; // already checked this brush in another leaf } b->checkcount = cm.checkcount; if ( !(b->contents & tw->contents) ) { continue; } CM_TraceThroughBrush( tw, b ); if ( !tw->trace.fraction ) { return; } } // trace line against all patches in the leaf #ifdef BSPC if (1) { #else if ( !cm_noCurves->integer ) { #endif for ( k = 0 ; k < leaf->numLeafSurfaces ; k++ ) { patch = cm.surfaces[ cm.leafsurfaces[ leaf->firstLeafSurface + k ] ]; if ( !patch ) { continue; } if ( patch->checkcount == cm.checkcount ) { continue; // already checked this patch in another leaf } patch->checkcount = cm.checkcount; if ( !(patch->contents & tw->contents) ) { continue; } CM_TraceThroughPatch( tw, patch ); if ( !tw->trace.fraction ) { return; } } } } #define RADIUS_EPSILON 1.0f /* ================ CM_TraceThroughSphere get the first intersection of the ray with the sphere ================ */ void CM_TraceThroughSphere( traceWork_t *tw, vec3_t origin, float radius, vec3_t start, vec3_t end ) { float l1, l2, length, scale, fraction; float a, b, c, d, sqrtd; vec3_t v1, dir, intersection; // if inside the sphere VectorSubtract(start, origin, dir); l1 = VectorLengthSquared(dir); if (l1 < Square(radius)) { tw->trace.fraction = 0; tw->trace.startsolid = qtrue; // test for allsolid VectorSubtract(end, origin, dir); l1 = VectorLengthSquared(dir); if (l1 < Square(radius)) { tw->trace.allsolid = qtrue; } return; } // VectorSubtract(end, start, dir); length = VectorNormalize(dir); // l1 = CM_DistanceFromLineSquared(origin, start, end, dir); VectorSubtract(end, origin, v1); l2 = VectorLengthSquared(v1); // if no intersection with the sphere and the end point is at least an epsilon away if (l1 >= Square(radius) && l2 > Square(radius+SURFACE_CLIP_EPSILON)) { return; } // // | origin - (start + t * dir) | = radius // a = dir[0]^2 + dir[1]^2 + dir[2]^2; // b = 2 * (dir[0] * (start[0] - origin[0]) + dir[1] * (start[1] - origin[1]) + dir[2] * (start[2] - origin[2])); // c = (start[0] - origin[0])^2 + (start[1] - origin[1])^2 + (start[2] - origin[2])^2 - radius^2; // VectorSubtract(start, origin, v1); // dir is normalized so a = 1 a = 1.0f;//dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2]; b = 2.0f * (dir[0] * v1[0] + dir[1] * v1[1] + dir[2] * v1[2]); c = v1[0] * v1[0] + v1[1] * v1[1] + v1[2] * v1[2] - (radius+RADIUS_EPSILON) * (radius+RADIUS_EPSILON); d = b * b - 4.0f * c;// * a; if (d > 0) { sqrtd = SquareRootFloat(d); // = (- b + sqrtd) * 0.5f; // / (2.0f * a); fraction = (- b - sqrtd) * 0.5f; // / (2.0f * a); // if (fraction < 0) { fraction = 0; } else { fraction /= length; } if ( fraction < tw->trace.fraction ) { tw->trace.fraction = fraction; VectorSubtract(end, start, dir); VectorMA(start, fraction, dir, intersection); VectorSubtract(intersection, origin, dir); #ifdef CAPSULE_DEBUG l2 = VectorLength(dir); if (l2 < radius) { int bah = 1; } #endif scale = 1 / (radius+RADIUS_EPSILON); VectorScale(dir, scale, dir); VectorCopy(dir, tw->trace.plane.normal); VectorAdd( tw->modelOrigin, intersection, intersection); tw->trace.plane.dist = DotProduct(tw->trace.plane.normal, intersection); tw->trace.contents = CONTENTS_BODY; } } else if (d == 0) { //t1 = (- b ) / 2; // slide along the sphere } // no intersection at all } /* ================ CM_TraceThroughVerticalCylinder get the first intersection of the ray with the cylinder the cylinder extends halfheight above and below the origin ================ */ void CM_TraceThroughVerticalCylinder( traceWork_t *tw, vec3_t origin, float radius, float halfheight, vec3_t start, vec3_t end) { float length, scale, fraction, l1, l2; float a, b, c, d, sqrtd; vec3_t v1, dir, start2d, end2d, org2d, intersection; // 2d coordinates VectorSet(start2d, start[0], start[1], 0); VectorSet(end2d, end[0], end[1], 0); VectorSet(org2d, origin[0], origin[1], 0); // if between lower and upper cylinder bounds if (start[2] <= origin[2] + halfheight && start[2] >= origin[2] - halfheight) { // if inside the cylinder VectorSubtract(start2d, org2d, dir); l1 = VectorLengthSquared(dir); if (l1 < Square(radius)) { tw->trace.fraction = 0; tw->trace.startsolid = qtrue; VectorSubtract(end2d, org2d, dir); l1 = VectorLengthSquared(dir); if (l1 < Square(radius)) { tw->trace.allsolid = qtrue; } return; } } // VectorSubtract(end2d, start2d, dir); length = VectorNormalize(dir); // l1 = CM_DistanceFromLineSquared(org2d, start2d, end2d, dir); VectorSubtract(end2d, org2d, v1); l2 = VectorLengthSquared(v1); // if no intersection with the cylinder and the end point is at least an epsilon away if (l1 >= Square(radius) && l2 > Square(radius+SURFACE_CLIP_EPSILON)) { return; } // // // (start[0] - origin[0] - t * dir[0]) ^ 2 + (start[1] - origin[1] - t * dir[1]) ^ 2 = radius ^ 2 // (v1[0] + t * dir[0]) ^ 2 + (v1[1] + t * dir[1]) ^ 2 = radius ^ 2; // v1[0] ^ 2 + 2 * v1[0] * t * dir[0] + (t * dir[0]) ^ 2 + // v1[1] ^ 2 + 2 * v1[1] * t * dir[1] + (t * dir[1]) ^ 2 = radius ^ 2 // t ^ 2 * (dir[0] ^ 2 + dir[1] ^ 2) + t * (2 * v1[0] * dir[0] + 2 * v1[1] * dir[1]) + // v1[0] ^ 2 + v1[1] ^ 2 - radius ^ 2 = 0 // VectorSubtract(start, origin, v1); // dir is normalized so we can use a = 1 a = 1.0f;// * (dir[0] * dir[0] + dir[1] * dir[1]); b = 2.0f * (v1[0] * dir[0] + v1[1] * dir[1]); c = v1[0] * v1[0] + v1[1] * v1[1] - (radius+RADIUS_EPSILON) * (radius+RADIUS_EPSILON); d = b * b - 4.0f * c;// * a; if (d > 0) { sqrtd = SquareRootFloat(d); // = (- b + sqrtd) * 0.5f;// / (2.0f * a); fraction = (- b - sqrtd) * 0.5f;// / (2.0f * a); // if (fraction < 0) { fraction = 0; } else { fraction /= length; } if ( fraction < tw->trace.fraction ) { VectorSubtract(end, start, dir); VectorMA(start, fraction, dir, intersection); // if the intersection is between the cylinder lower and upper bound if (intersection[2] <= origin[2] + halfheight && intersection[2] >= origin[2] - halfheight) { // tw->trace.fraction = fraction; VectorSubtract(intersection, origin, dir); dir[2] = 0; #ifdef CAPSULE_DEBUG l2 = VectorLength(dir); if (l2 <= radius) { int bah = 1; } #endif scale = 1 / (radius+RADIUS_EPSILON); VectorScale(dir, scale, dir); VectorCopy(dir, tw->trace.plane.normal); VectorAdd( tw->modelOrigin, intersection, intersection); tw->trace.plane.dist = DotProduct(tw->trace.plane.normal, intersection); tw->trace.contents = CONTENTS_BODY; } } } else if (d == 0) { //t[0] = (- b ) / 2 * a; // slide along the cylinder } // no intersection at all } /* ================ CM_TraceCapsuleThroughCapsule capsule vs. capsule collision (not rotated) ================ */ void CM_TraceCapsuleThroughCapsule( traceWork_t *tw, clipHandle_t model ) { int i; vec3_t mins, maxs; vec3_t top, bottom, starttop, startbottom, endtop, endbottom; vec3_t offset, symetricSize[2]; float radius, halfwidth, halfheight, offs, h; CM_ModelBounds(model, mins, maxs); // test trace bounds vs. capsule bounds if ( tw->bounds[0][0] > maxs[0] + RADIUS_EPSILON || tw->bounds[0][1] > maxs[1] + RADIUS_EPSILON || tw->bounds[0][2] > maxs[2] + RADIUS_EPSILON || tw->bounds[1][0] < mins[0] - RADIUS_EPSILON || tw->bounds[1][1] < mins[1] - RADIUS_EPSILON || tw->bounds[1][2] < mins[2] - RADIUS_EPSILON ) { return; } // top origin and bottom origin of each sphere at start and end of trace VectorAdd(tw->start, tw->sphere.offset, starttop); VectorSubtract(tw->start, tw->sphere.offset, startbottom); VectorAdd(tw->end, tw->sphere.offset, endtop); VectorSubtract(tw->end, tw->sphere.offset, endbottom); // calculate top and bottom of the capsule spheres to collide with for ( i = 0 ; i < 3 ; i++ ) { offset[i] = ( mins[i] + maxs[i] ) * 0.5; symetricSize[0][i] = mins[i] - offset[i]; symetricSize[1][i] = maxs[i] - offset[i]; } halfwidth = symetricSize[ 1 ][ 0 ]; halfheight = symetricSize[ 1 ][ 2 ]; radius = ( halfwidth > halfheight ) ? halfheight : halfwidth; offs = halfheight - radius; VectorCopy(offset, top); top[2] += offs; VectorCopy(offset, bottom); bottom[2] -= offs; // expand radius of spheres radius += tw->sphere.radius; // if there is horizontal movement if ( tw->start[0] != tw->end[0] || tw->start[1] != tw->end[1] ) { // height of the expanded cylinder is the height of both cylinders minus the radius of both spheres h = halfheight + tw->sphere.halfheight - radius; // if the cylinder has a height if ( h > 0 ) { // test for collisions between the cylinders CM_TraceThroughVerticalCylinder(tw, offset, radius, h, tw->start, tw->end); } } // test for collision between the spheres CM_TraceThroughSphere(tw, top, radius, startbottom, endbottom); CM_TraceThroughSphere(tw, bottom, radius, starttop, endtop); } /* ================ CM_TraceBoundingBoxThroughCapsule bounding box vs. capsule collision ================ */ void CM_TraceBoundingBoxThroughCapsule( traceWork_t *tw, clipHandle_t model ) { vec3_t mins, maxs, offset, size[2]; clipHandle_t h; cmodel_t *cmod; int i; // mins maxs of the capsule CM_ModelBounds(model, mins, maxs); // offset for capsule center for ( i = 0 ; i < 3 ; i++ ) { offset[i] = ( mins[i] + maxs[i] ) * 0.5; size[0][i] = mins[i] - offset[i]; size[1][i] = maxs[i] - offset[i]; tw->start[i] -= offset[i]; tw->end[i] -= offset[i]; } // replace the bounding box with the capsule tw->sphere.use = qtrue; tw->sphere.radius = ( size[1][0] > size[1][2] ) ? size[1][2]: size[1][0]; tw->sphere.halfheight = size[1][2]; VectorSet( tw->sphere.offset, 0, 0, size[1][2] - tw->sphere.radius ); // replace the capsule with the bounding box h = CM_TempBoxModel(tw->size[0], tw->size[1], qfalse); // calculate collision cmod = CM_ClipHandleToModel( h ); CM_TraceThroughLeaf( tw, &cmod->leaf ); } //========================================================================================= /* ================== CM_TraceThroughTree Traverse all the contacted leafs from the start to the end position. If the trace is a point, they will be exactly in order, but for larger trace volumes it is possible to hit something in a later leaf with a smaller intercept fraction. ================== */ void CM_TraceThroughTree( traceWork_t *tw, int num, float p1f, float p2f, vec3_t p1, vec3_t p2) { cNode_t *node; cplane_t *plane; float t1, t2, offset; float frac, frac2; float idist; vec3_t mid; int side; float midf; if (tw->trace.fraction <= p1f) { return; // already hit something nearer } // if < 0, we are in a leaf node if (num < 0) { CM_TraceThroughLeaf( tw, &cm.leafs[-1-num] ); return; } // // find the point distances to the seperating plane // and the offset for the size of the box // node = cm.nodes + num; plane = node->plane; // adjust the plane distance apropriately for mins/maxs if ( plane->type < 3 ) { t1 = p1[plane->type] - plane->dist; t2 = p2[plane->type] - plane->dist; offset = tw->extents[plane->type]; } else { t1 = DotProduct (plane->normal, p1) - plane->dist; t2 = DotProduct (plane->normal, p2) - plane->dist; if ( tw->isPoint ) { offset = 0; } else { #if 0 // bk010201 - DEAD // an axial brush right behind a slanted bsp plane // will poke through when expanded, so adjust // by sqrt(3) offset = fabs(tw->extents[0]*plane->normal[0]) + fabs(tw->extents[1]*plane->normal[1]) + fabs(tw->extents[2]*plane->normal[2]); offset *= 2; offset = tw->maxOffset; #endif // this is silly offset = 2048; } } // see which sides we need to consider if ( t1 >= offset + 1 && t2 >= offset + 1 ) { CM_TraceThroughTree( tw, node->children[0], p1f, p2f, p1, p2 ); return; } if ( t1 < -offset - 1 && t2 < -offset - 1 ) { CM_TraceThroughTree( tw, node->children[1], p1f, p2f, p1, p2 ); return; } // put the crosspoint SURFACE_CLIP_EPSILON pixels on the near side if ( t1 < t2 ) { idist = 1.0/(t1-t2); side = 1; frac2 = (t1 + offset + SURFACE_CLIP_EPSILON)*idist; frac = (t1 - offset + SURFACE_CLIP_EPSILON)*idist; } else if (t1 > t2) { idist = 1.0/(t1-t2); side = 0; frac2 = (t1 - offset - SURFACE_CLIP_EPSILON)*idist; frac = (t1 + offset + SURFACE_CLIP_EPSILON)*idist; } else { side = 0; frac = 1; frac2 = 0; } // move up to the node if ( frac < 0 ) { frac = 0; } if ( frac > 1 ) { frac = 1; } midf = p1f + (p2f - p1f)*frac; mid[0] = p1[0] + frac*(p2[0] - p1[0]); mid[1] = p1[1] + frac*(p2[1] - p1[1]); mid[2] = p1[2] + frac*(p2[2] - p1[2]); CM_TraceThroughTree( tw, node->children[side], p1f, midf, p1, mid ); // go past the node if ( frac2 < 0 ) { frac2 = 0; } if ( frac2 > 1 ) { frac2 = 1; } midf = p1f + (p2f - p1f)*frac2; mid[0] = p1[0] + frac2*(p2[0] - p1[0]); mid[1] = p1[1] + frac2*(p2[1] - p1[1]); mid[2] = p1[2] + frac2*(p2[2] - p1[2]); CM_TraceThroughTree( tw, node->children[side^1], midf, p2f, mid, p2 ); } //====================================================================== /* ================== CM_Trace ================== */ void CM_Trace( trace_t *results, const vec3_t start, const vec3_t end, vec3_t mins, vec3_t maxs, clipHandle_t model, const vec3_t origin, int brushmask, int capsule, sphere_t *sphere ) { int i; traceWork_t tw; vec3_t offset; cmodel_t *cmod; cmod = CM_ClipHandleToModel( model ); cm.checkcount++; // for multi-check avoidance c_traces++; // for statistics, may be zeroed // fill in a default trace Com_Memset( &tw, 0, sizeof(tw) ); tw.trace.fraction = 1; // assume it goes the entire distance until shown otherwise VectorCopy(origin, tw.modelOrigin); if (!cm.numNodes) { *results = tw.trace; return; // map not loaded, shouldn't happen } // allow NULL to be passed in for 0,0,0 if ( !mins ) { mins = vec3_origin; } if ( !maxs ) { maxs = vec3_origin; } // set basic parms tw.contents = brushmask; // adjust so that mins and maxs are always symetric, which // avoids some complications with plane expanding of rotated // bmodels for ( i = 0 ; i < 3 ; i++ ) { offset[i] = ( mins[i] + maxs[i] ) * 0.5; tw.size[0][i] = mins[i] - offset[i]; tw.size[1][i] = maxs[i] - offset[i]; tw.start[i] = start[i] + offset[i]; tw.end[i] = end[i] + offset[i]; } // if a sphere is already specified if ( sphere ) { tw.sphere = *sphere; } else { tw.sphere.use = capsule; tw.sphere.radius = ( tw.size[1][0] > tw.size[1][2] ) ? tw.size[1][2]: tw.size[1][0]; tw.sphere.halfheight = tw.size[1][2]; VectorSet( tw.sphere.offset, 0, 0, tw.size[1][2] - tw.sphere.radius ); } tw.maxOffset = tw.size[1][0] + tw.size[1][1] + tw.size[1][2]; // tw.offsets[signbits] = vector to apropriate corner from origin tw.offsets[0][0] = tw.size[0][0]; tw.offsets[0][1] = tw.size[0][1]; tw.offsets[0][2] = tw.size[0][2]; tw.offsets[1][0] = tw.size[1][0]; tw.offsets[1][1] = tw.size[0][1]; tw.offsets[1][2] = tw.size[0][2]; tw.offsets[2][0] = tw.size[0][0]; tw.offsets[2][1] = tw.size[1][1]; tw.offsets[2][2] = tw.size[0][2]; tw.offsets[3][0] = tw.size[1][0]; tw.offsets[3][1] = tw.size[1][1]; tw.offsets[3][2] = tw.size[0][2]; tw.offsets[4][0] = tw.size[0][0]; tw.offsets[4][1] = tw.size[0][1]; tw.offsets[4][2] = tw.size[1][2]; tw.offsets[5][0] = tw.size[1][0]; tw.offsets[5][1] = tw.size[0][1]; tw.offsets[5][2] = tw.size[1][2]; tw.offsets[6][0] = tw.size[0][0]; tw.offsets[6][1] = tw.size[1][1]; tw.offsets[6][2] = tw.size[1][2]; tw.offsets[7][0] = tw.size[1][0]; tw.offsets[7][1] = tw.size[1][1]; tw.offsets[7][2] = tw.size[1][2]; // // calculate bounds // if ( tw.sphere.use ) { for ( i = 0 ; i < 3 ; i++ ) { if ( tw.start[i] < tw.end[i] ) { tw.bounds[0][i] = tw.start[i] - fabs(tw.sphere.offset[i]) - tw.sphere.radius; tw.bounds[1][i] = tw.end[i] + fabs(tw.sphere.offset[i]) + tw.sphere.radius; } else { tw.bounds[0][i] = tw.end[i] - fabs(tw.sphere.offset[i]) - tw.sphere.radius; tw.bounds[1][i] = tw.start[i] + fabs(tw.sphere.offset[i]) + tw.sphere.radius; } } } else { for ( i = 0 ; i < 3 ; i++ ) { if ( tw.start[i] < tw.end[i] ) { tw.bounds[0][i] = tw.start[i] + tw.size[0][i]; tw.bounds[1][i] = tw.end[i] + tw.size[1][i]; } else { tw.bounds[0][i] = tw.end[i] + tw.size[0][i]; tw.bounds[1][i] = tw.start[i] + tw.size[1][i]; } } } // // check for position test special case // if (start[0] == end[0] && start[1] == end[1] && start[2] == end[2]) { if ( model ) { #ifdef ALWAYS_BBOX_VS_BBOX // bk010201 - FIXME - compile time flag? if ( model == BOX_MODEL_HANDLE || model == CAPSULE_MODEL_HANDLE) { tw.sphere.use = qfalse; CM_TestInLeaf( &tw, &cmod->leaf ); } else #elif defined(ALWAYS_CAPSULE_VS_CAPSULE) if ( model == BOX_MODEL_HANDLE || model == CAPSULE_MODEL_HANDLE) { CM_TestCapsuleInCapsule( &tw, model ); } else #endif if ( model == CAPSULE_MODEL_HANDLE ) { if ( tw.sphere.use ) { CM_TestCapsuleInCapsule( &tw, model ); } else { CM_TestBoundingBoxInCapsule( &tw, model ); } } else { CM_TestInLeaf( &tw, &cmod->leaf ); } } else { CM_PositionTest( &tw ); } } else { // // check for point special case // if ( tw.size[0][0] == 0 && tw.size[0][1] == 0 && tw.size[0][2] == 0 ) { tw.isPoint = qtrue; VectorClear( tw.extents ); } else { tw.isPoint = qfalse; tw.extents[0] = tw.size[1][0]; tw.extents[1] = tw.size[1][1]; tw.extents[2] = tw.size[1][2]; } // // general sweeping through world // if ( model ) { #ifdef ALWAYS_BBOX_VS_BBOX if ( model == BOX_MODEL_HANDLE || model == CAPSULE_MODEL_HANDLE) { tw.sphere.use = qfalse; CM_TraceThroughLeaf( &tw, &cmod->leaf ); } else #elif defined(ALWAYS_CAPSULE_VS_CAPSULE) if ( model == BOX_MODEL_HANDLE || model == CAPSULE_MODEL_HANDLE) { CM_TraceCapsuleThroughCapsule( &tw, model ); } else #endif if ( model == CAPSULE_MODEL_HANDLE ) { if ( tw.sphere.use ) { CM_TraceCapsuleThroughCapsule( &tw, model ); } else { CM_TraceBoundingBoxThroughCapsule( &tw, model ); } } else { CM_TraceThroughLeaf( &tw, &cmod->leaf ); } } else { CM_TraceThroughTree( &tw, 0, 0, 1, tw.start, tw.end ); } } // generate endpos from the original, unmodified start/end if ( tw.trace.fraction == 1 ) { VectorCopy (end, tw.trace.endpos); } else { for ( i=0 ; i<3 ; i++ ) { tw.trace.endpos[i] = start[i] + tw.trace.fraction * (end[i] - start[i]); } } // If allsolid is set (was entirely inside something solid), the plane is not valid. // If fraction == 1.0, we never hit anything, and thus the plane is not valid. // Otherwise, the normal on the plane should have unit length assert(tw.trace.allsolid || tw.trace.fraction == 1.0 || VectorLengthSquared(tw.trace.plane.normal) > 0.9999); *results = tw.trace; } /* ================== CM_BoxTrace ================== */ void CM_BoxTrace( trace_t *results, const vec3_t start, const vec3_t end, vec3_t mins, vec3_t maxs, clipHandle_t model, int brushmask, int capsule ) { CM_Trace( results, start, end, mins, maxs, model, vec3_origin, brushmask, capsule, NULL ); } /* ================== CM_TransformedBoxTrace Handles offseting and rotation of the end points for moving and rotating entities ================== */ void CM_TransformedBoxTrace( trace_t *results, const vec3_t start, const vec3_t end, vec3_t mins, vec3_t maxs, clipHandle_t model, int brushmask, const vec3_t origin, const vec3_t angles, int capsule ) { trace_t trace; vec3_t start_l, end_l; qboolean rotated; vec3_t offset; vec3_t symetricSize[2]; vec3_t matrix[3], transpose[3]; int i; float halfwidth; float halfheight; float t; sphere_t sphere; if ( !mins ) { mins = vec3_origin; } if ( !maxs ) { maxs = vec3_origin; } // adjust so that mins and maxs are always symetric, which // avoids some complications with plane expanding of rotated // bmodels for ( i = 0 ; i < 3 ; i++ ) { offset[i] = ( mins[i] + maxs[i] ) * 0.5; symetricSize[0][i] = mins[i] - offset[i]; symetricSize[1][i] = maxs[i] - offset[i]; start_l[i] = start[i] + offset[i]; end_l[i] = end[i] + offset[i]; } // subtract origin offset VectorSubtract( start_l, origin, start_l ); VectorSubtract( end_l, origin, end_l ); // rotate start and end into the models frame of reference if ( model != BOX_MODEL_HANDLE && (angles[0] || angles[1] || angles[2]) ) { rotated = qtrue; } else { rotated = qfalse; } halfwidth = symetricSize[ 1 ][ 0 ]; halfheight = symetricSize[ 1 ][ 2 ]; sphere.use = capsule; sphere.radius = ( halfwidth > halfheight ) ? halfheight : halfwidth; sphere.halfheight = halfheight; t = halfheight - sphere.radius; if (rotated) { // rotation on trace line (start-end) instead of rotating the bmodel // NOTE: This is still incorrect for bounding boxes because the actual bounding // box that is swept through the model is not rotated. We cannot rotate // the bounding box or the bmodel because that would make all the brush // bevels invalid. // However this is correct for capsules since a capsule itself is rotated too. CreateRotationMatrix(angles, matrix); RotatePoint(start_l, matrix); RotatePoint(end_l, matrix); // rotated sphere offset for capsule sphere.offset[0] = matrix[0][ 2 ] * t; sphere.offset[1] = -matrix[1][ 2 ] * t; sphere.offset[2] = matrix[2][ 2 ] * t; } else { VectorSet( sphere.offset, 0, 0, t ); } // sweep the box through the model CM_Trace( &trace, start_l, end_l, symetricSize[0], symetricSize[1], model, origin, brushmask, capsule, &sphere ); // if the bmodel was rotated and there was a collision if ( rotated && trace.fraction != 1.0 ) { // rotation of bmodel collision plane TransposeMatrix(matrix, transpose); RotatePoint(trace.plane.normal, transpose); } // re-calculate the end position of the trace because the trace.endpos // calculated by CM_Trace could be rotated and have an offset trace.endpos[0] = start[0] + trace.fraction * (end[0] - start[0]); trace.endpos[1] = start[1] + trace.fraction * (end[1] - start[1]); trace.endpos[2] = start[2] + trace.fraction * (end[2] - start[2]); *results = trace; }