#include "polygon.h"
#define COLLISION_EDGEDIR_DOT_EPSILON (0.999f)
+#define COLLISION_EDGECROSS_MINLENGTH2 (1.0f / 4194304.0f)
#define COLLISION_SNAPSCALE (32.0f)
#define COLLISION_SNAP (1.0f / COLLISION_SNAPSCALE)
#define COLLISION_SNAP2 (2.0f / COLLISION_SNAPSCALE)
VectorSubtract(brush->points[i].v, brush->points[j].v, brush->edgedirs[j].v);
}
-colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents, int q3surfaceflags, texture_t *texture)
+colbrushf_t *Collision_NewBrushFromPlanes(mempool_t *mempool, int numoriginalplanes, const colplanef_t *originalplanes, int supercontents, int q3surfaceflags, texture_t *texture, int hasaabbplanes)
{
// TODO: planesbuf could be replaced by a remapping table
int j, k, l, m, w, xyzflags;
int numpointsbuf = 0, maxpointsbuf = 256, numedgedirsbuf = 0, maxedgedirsbuf = 256, numplanesbuf = 0, maxplanesbuf = 256, numelementsbuf = 0, maxelementsbuf = 256;
+ int isaabb = true;
double maxdist;
colbrushf_t *brush;
colpointf_t pointsbuf[256];
memset(polypointbuf, 0, sizeof(polypointbuf));
memset(p, 0, sizeof(p));
#endif
+
+ // check if there are too many planes and skip the brush
+ if (numoriginalplanes >= maxplanesbuf)
+ {
+ Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
+ return NULL;
+ }
+
// figure out how large a bounding box we need to properly compute this brush
maxdist = 0;
for (j = 0;j < numoriginalplanes;j++)
// whose polygon is clipped away by the other planes)
for (j = 0;j < numoriginalplanes;j++)
{
- // add the plane uniquely (no duplicates)
- for (k = 0;k < numplanesbuf;k++)
- if (VectorCompare(planesbuf[k].normal, originalplanes[j].normal) && planesbuf[k].dist == originalplanes[j].dist)
- break;
- // if the plane is a duplicate, skip it
- if (k < numplanesbuf)
- continue;
- // check if there are too many and skip the brush
- if (numplanesbuf >= maxplanesbuf)
- {
- Con_DPrint("Collision_NewBrushFromPlanes: failed to build collision brush: too many planes for buffer\n");
- return NULL;
- }
-
// add the new plane
VectorCopy(originalplanes[j].normal, planesbuf[numplanesbuf].normal);
planesbuf[numplanesbuf].dist = originalplanes[j].dist;
numedgedirsbuf++;
}
}
+
+ // if any normal is not purely axial, it's not an axis-aligned box
+ if (isaabb && (originalplanes[j].normal[0] == 0) + (originalplanes[j].normal[1] == 0) + (originalplanes[j].normal[2] == 0) < 2)
+ isaabb = false;
}
// if nothing is left, there's nothing to allocate
// allocate the brush and copy to it
brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colpointf_t) * numpointsbuf + sizeof(colpointf_t) * numedgedirsbuf + sizeof(colplanef_t) * numplanesbuf + sizeof(int) * numelementsbuf);
+ brush->isaabb = isaabb;
+ brush->hasaabbplanes = hasaabbplanes;
brush->supercontents = supercontents;
brush->numplanes = numplanesbuf;
brush->numedgedirs = numedgedirsbuf;
{
colbrushf_t *brush;
brush = (colbrushf_t *)Mem_Alloc(mempool, sizeof(colbrushf_t) + sizeof(colplanef_t) * (numpoints + 2) + sizeof(colpointf_t) * numpoints);
+ brush->isaabb = false;
+ brush->hasaabbplanes = false;
brush->supercontents = supercontents;
brush->numpoints = numpoints;
brush->numedgedirs = numpoints;
//int othernumedgedirs = other_start->numedgedirs;
int tracenumpoints = trace_start->numpoints;
int othernumpoints = other_start->numpoints;
- int numplanes1 = trace_start->numplanes;
- int numplanes2 = numplanes1 + other_start->numplanes;
+ int numplanes1 = other_start->numplanes;
+ int numplanes2 = numplanes1 + trace_start->numplanes;
int numplanes3 = numplanes2 + trace_start->numedgedirs * other_start->numedgedirs * 2;
vec_t enterfrac = -1, leavefrac = 1, startdist, enddist, ie, f, imove, enterfrac2 = -1;
vec4_t startplane;
VectorClear(startdepthnormal);
Vector4Clear(newimpactplane);
+ // fast case for AABB vs compiled brushes (which begin with AABB planes and also have precomputed bevels for AABB collisions)
+ if (trace_start->isaabb && other_start->hasaabbplanes)
+ numplanes3 = numplanes2 = numplanes1;
+
// Separating Axis Theorem:
// if a supporting vector (plane normal) can be found that separates two
// objects, they are not colliding.
if (nplane < numplanes1)
{
nplane2 = nplane;
- VectorCopy(trace_start->planes[nplane2].normal, startplane);
- VectorCopy(trace_end->planes[nplane2].normal, endplane);
+ VectorCopy(other_start->planes[nplane2].normal, startplane);
+ VectorCopy(other_end->planes[nplane2].normal, endplane);
}
else if (nplane < numplanes2)
{
nplane2 = nplane - numplanes1;
- VectorCopy(other_start->planes[nplane2].normal, startplane);
- VectorCopy(other_end->planes[nplane2].normal, endplane);
+ VectorCopy(trace_start->planes[nplane2].normal, startplane);
+ VectorCopy(trace_end->planes[nplane2].normal, endplane);
}
else
{
if (nplane2 & 1)
{
CrossProduct(trace_start->edgedirs[nedge1].v, other_start->edgedirs[nedge2].v, startplane);
+ if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
+ continue; // degenerate crossproduct
CrossProduct(trace_end->edgedirs[nedge1].v, other_end->edgedirs[nedge2].v, endplane);
+ if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
+ continue; // degenerate crossproduct
}
else
{
CrossProduct(other_start->edgedirs[nedge2].v, trace_start->edgedirs[nedge1].v, startplane);
+ if (VectorLength2(startplane) < COLLISION_EDGECROSS_MINLENGTH2)
+ continue; // degenerate crossproduct
CrossProduct(other_end->edgedirs[nedge2].v, trace_end->edgedirs[nedge1].v, endplane);
+ if (VectorLength2(endplane) < COLLISION_EDGECROSS_MINLENGTH2)
+ continue; // degenerate crossproduct
}
VectorNormalize(startplane);
VectorNormalize(endplane);
newimpactplane[3] = startplane[3] * ie + endplane[3] * enterfrac;
if (nplane < numplanes1)
{
- // use the plane from trace
+ // use the plane from other
nplane2 = nplane;
- hitq3surfaceflags = trace_start->planes[nplane2].q3surfaceflags;
- hittexture = trace_start->planes[nplane2].texture;
+ hitq3surfaceflags = other_start->planes[nplane2].q3surfaceflags;
+ hittexture = other_start->planes[nplane2].texture;
}
else if (nplane < numplanes2)
{
- // use the plane from other
+ // use the plane from trace
nplane2 = nplane - numplanes1;
- hitq3surfaceflags = other_start->planes[nplane2].q3surfaceflags;
- hittexture = other_start->planes[nplane2].texture;
+ hitq3surfaceflags = trace_start->planes[nplane2].q3surfaceflags;
+ hittexture = trace_start->planes[nplane2].texture;
}
else
{
Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
return;
}
+ memset(&polyf_brush, 0, sizeof(polyf_brush));
+ polyf_brush.isaabb = false;
+ polyf_brush.hasaabbplanes = false;
polyf_brush.numpoints = numpoints;
polyf_brush.numedgedirs = numpoints;
polyf_brush.numplanes = numpoints + 2;
void Collision_TraceBrushTriangleMeshFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numtriangles, const int *element3i, const float *vertex3f, int stride, float *bbox6f, int supercontents, int q3surfaceflags, texture_t *texture, const vec3_t segmentmins, const vec3_t segmentmaxs)
{
int i;
+ memset(&polyf_brush, 0, sizeof(polyf_brush));
+ polyf_brush.isaabb = false;
+ polyf_brush.hasaabbplanes = false;
polyf_brush.numpoints = 3;
polyf_brush.numedgedirs = 3;
polyf_brush.numplanes = 5;
}
-static colpointf_t polyf_pointsstart[256], polyf_pointsend[256];
-static colplanef_t polyf_planesstart[256 + 2], polyf_planesend[256 + 2];
-static colbrushf_t polyf_brushstart, polyf_brushend;
-
-void Collision_TraceBrushPolygonTransformFloat(trace_t *trace, const colbrushf_t *thisbrush_start, const colbrushf_t *thisbrush_end, int numpoints, const float *points, const matrix4x4_t *polygonmatrixstart, const matrix4x4_t *polygonmatrixend, int supercontents, int q3surfaceflags, texture_t *texture)
-{
- int i;
- if (numpoints > 256)
- {
- Con_Print("Polygon with more than 256 points not supported yet (fixme!)\n");
- return;
- }
- polyf_brushstart.numpoints = numpoints;
- polyf_brushstart.numedgedirs = numpoints;
- polyf_brushstart.numplanes = numpoints + 2;
- polyf_brushstart.points = polyf_pointsstart;//(colpointf_t *)points;
- polyf_brushstart.planes = polyf_planesstart;
- polyf_brushstart.supercontents = supercontents;
- polyf_brushstart.q3surfaceflags = q3surfaceflags;
- polyf_brushstart.texture = texture;
- for (i = 0;i < numpoints;i++)
- Matrix4x4_Transform(polygonmatrixstart, points + i * 3, polyf_brushstart.points[i].v);
- polyf_brushend.numpoints = numpoints;
- polyf_brushend.numedgedirs = numpoints;
- polyf_brushend.numplanes = numpoints + 2;
- polyf_brushend.points = polyf_pointsend;//(colpointf_t *)points;
- polyf_brushend.planes = polyf_planesend;
- polyf_brushend.supercontents = supercontents;
- polyf_brushend.q3surfaceflags = q3surfaceflags;
- polyf_brushend.texture = texture;
- for (i = 0;i < numpoints;i++)
- Matrix4x4_Transform(polygonmatrixend, points + i * 3, polyf_brushend.points[i].v);
- for (i = 0;i < polyf_brushstart.numplanes;i++)
- {
- polyf_brushstart.planes[i].q3surfaceflags = q3surfaceflags;
- polyf_brushstart.planes[i].texture = texture;
- }
- Collision_SnapCopyPoints(polyf_brushstart.numpoints, polyf_pointsstart, polyf_pointsstart, COLLISION_SNAPSCALE, COLLISION_SNAP);
- Collision_SnapCopyPoints(polyf_brushend.numpoints, polyf_pointsend, polyf_pointsend, COLLISION_SNAPSCALE, COLLISION_SNAP);
- Collision_CalcEdgeDirsForPolygonBrushFloat(&polyf_brushstart);
- Collision_CalcEdgeDirsForPolygonBrushFloat(&polyf_brushend);
- Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushstart);
- Collision_CalcPlanesForPolygonBrushFloat(&polyf_brushend);
-
- //Collision_PrintBrushAsQHull(&polyf_brushstart, "polyf_brushstart");
- //Collision_PrintBrushAsQHull(&polyf_brushend, "polyf_brushend");
-
- Collision_TraceBrushBrushFloat(trace, thisbrush_start, thisbrush_end, &polyf_brushstart, &polyf_brushend);
-}
-
-
-
#define MAX_BRUSHFORBOX 16
static unsigned int brushforbox_index = 0;
// note: this relies on integer overflow to be consistent with modulo
void Collision_InitBrushForBox(void)
{
int i;
+ memset(brushforbox_brush, 0, sizeof(brushforbox_brush));
+ memset(brushforpoint_brush, 0, sizeof(brushforpoint_brush));
for (i = 0;i < MAX_BRUSHFORBOX;i++)
{
+ brushforbox_brush[i].isaabb = true;
+ brushforbox_brush[i].hasaabbplanes = true;
brushforbox_brush[i].numpoints = 8;
brushforbox_brush[i].numedgedirs = 3;
brushforbox_brush[i].numplanes = 6;
brushforbox_brush[i].points = brushforbox_point + i * 8;
brushforbox_brush[i].edgedirs = brushforbox_edgedir + i * 3;
brushforbox_brush[i].planes = brushforbox_plane + i * 6;
+ brushforpoint_brush[i].isaabb = true;
+ brushforpoint_brush[i].hasaabbplanes = true;
brushforpoint_brush[i].numpoints = 1;
brushforpoint_brush[i].numedgedirs = 0;
brushforpoint_brush[i].numplanes = 0;
}
}
-colbrushf_t *Collision_BrushForBox(const matrix4x4_t *matrix, const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
+colbrushf_t *Collision_BrushForBox(const vec3_t mins, const vec3_t maxs, int supercontents, int q3surfaceflags, texture_t *texture)
{
- int i, j;
- vec3_t v;
- vec3_t origin;
+ int i;
colbrushf_t *brush;
if (brushforbox_brush[0].numpoints == 0)
Collision_InitBrushForBox();
else
{
brush = brushforbox_brush + ((brushforbox_index++) % MAX_BRUSHFORBOX);
- // FIXME: optimize
- for (i = 0;i < 8;i++)
- {
- v[0] = i & 1 ? maxs[0] : mins[0];
- v[1] = i & 2 ? maxs[1] : mins[1];
- v[2] = i & 4 ? maxs[2] : mins[2];
- Matrix4x4_Transform(matrix, v, brush->points[i].v);
- }
-
- // there are only 3 distinct edgedirs for a box, each an axis vector
- Matrix4x4_ToVectors(matrix, brush->edgedirs[0].v, brush->edgedirs[1].v, brush->edgedirs[2].v, origin);
-
- // the 6 planes of a brush are based on the axis vectors
- VectorCopy(brush->edgedirs[0].v, brush->planes[0].normal);
- VectorNegate(brush->edgedirs[0].v, brush->planes[1].normal);
- VectorCopy(brush->edgedirs[1].v, brush->planes[2].normal);
- VectorNegate(brush->edgedirs[1].v, brush->planes[3].normal);
- VectorCopy(brush->edgedirs[2].v, brush->planes[4].normal);
- VectorNegate(brush->edgedirs[2].v, brush->planes[5].normal);
+ // there are 8 points on a box
+ // there are 3 edgedirs on a box (both signs are tested in collision)
+ // there are 6 planes on a box
+ VectorSet(brush->points[0].v, mins[0], mins[1], mins[2]);
+ VectorSet(brush->points[1].v, maxs[0], mins[1], mins[2]);
+ VectorSet(brush->points[2].v, mins[0], maxs[1], mins[2]);
+ VectorSet(brush->points[3].v, maxs[0], maxs[1], mins[2]);
+ VectorSet(brush->points[4].v, mins[0], mins[1], maxs[2]);
+ VectorSet(brush->points[5].v, maxs[0], mins[1], maxs[2]);
+ VectorSet(brush->points[6].v, mins[0], maxs[1], maxs[2]);
+ VectorSet(brush->points[7].v, maxs[0], maxs[1], maxs[2]);
+ VectorSet(brush->edgedirs[0].v, 1, 0, 0);
+ VectorSet(brush->edgedirs[1].v, 0, 1, 0);
+ VectorSet(brush->edgedirs[2].v, 0, 0, 1);
+ VectorSet(brush->planes[0].normal, -1, 0, 0);brush->planes[0].dist = -mins[0];
+ VectorSet(brush->planes[1].normal, 1, 0, 0);brush->planes[1].dist = maxs[0];
+ VectorSet(brush->planes[2].normal, 0, -1, 0);brush->planes[2].dist = -mins[1];
+ VectorSet(brush->planes[3].normal, 0, 1, 0);brush->planes[3].dist = maxs[1];
+ VectorSet(brush->planes[4].normal, 0, 0, -1);brush->planes[4].dist = -mins[2];
+ VectorSet(brush->planes[5].normal, 0, 0, 1);brush->planes[5].dist = maxs[2];
for (i = 0;i < 6;i++)
{
brush->planes[i].q3surfaceflags = q3surfaceflags;
brush->planes[i].texture = texture;
}
-
}
brush->supercontents = supercontents;
brush->q3surfaceflags = q3surfaceflags;
brush->texture = texture;
- for (j = 0;j < brush->numplanes;j++)
- {
- brush->planes[j].q3surfaceflags = q3surfaceflags;
- brush->planes[j].texture = texture;
- brush->planes[j].dist = furthestplanedist_float(brush->planes[j].normal, brush->points, brush->numpoints);
- }
- VectorCopy(brush->points[0].v, brush->mins);
- VectorCopy(brush->points[0].v, brush->maxs);
- for (j = 1;j < brush->numpoints;j++)
- {
- brush->mins[0] = min(brush->mins[0], brush->points[j].v[0]);
- brush->mins[1] = min(brush->mins[1], brush->points[j].v[1]);
- brush->mins[2] = min(brush->mins[2], brush->points[j].v[2]);
- brush->maxs[0] = max(brush->maxs[0], brush->points[j].v[0]);
- brush->maxs[1] = max(brush->maxs[1], brush->points[j].v[1]);
- brush->maxs[2] = max(brush->maxs[2], brush->points[j].v[2]);
- }
- brush->mins[0] -= 1;
- brush->mins[1] -= 1;
- brush->mins[2] -= 1;
- brush->maxs[0] += 1;
- brush->maxs[1] += 1;
- brush->maxs[2] += 1;
+ VectorSet(brush->mins, mins[0] - 1, mins[1] - 1, mins[2] - 1);
+ VectorSet(brush->maxs, maxs[0] + 1, maxs[1] + 1, maxs[2] + 1);
Collision_ValidateBrush(brush);
return brush;
}
VectorAdd(start, maxs, startmaxs);
VectorAdd(end, mins, endmins);
VectorAdd(end, maxs, endmaxs);
- boxbrush = Collision_BrushForBox(&identitymatrix, cmins, cmaxs, supercontents, q3surfaceflags, texture);
- thisbrush_start = Collision_BrushForBox(&identitymatrix, startmins, startmaxs, 0, 0, NULL);
- thisbrush_end = Collision_BrushForBox(&identitymatrix, endmins, endmaxs, 0, 0, NULL);
+ boxbrush = Collision_BrushForBox(cmins, cmaxs, supercontents, q3surfaceflags, texture);
+ thisbrush_start = Collision_BrushForBox(startmins, startmaxs, 0, 0, NULL);
+ thisbrush_end = Collision_BrushForBox(endmins, endmaxs, 0, 0, NULL);
memset(trace, 0, sizeof(trace_t));
trace->hitsupercontentsmask = hitsupercontentsmask;
projects / xonotic / darkplaces.git / commitdiff