/*
============
idTraceModel::Shrink
============
*/
void idTraceModel::Shrink( const float m ) {
int i, j, edgeNum;
traceModelEdge_t *edge;
idVec3 dir;
if ( type == TRM_POLYGON ) {
for ( i = 0; i < numEdges; i++ ) {
edgeNum = polys[0].edges[i];
edge = &edges[abs(edgeNum)];
dir = verts[ edge->v[ INT32_SIGNBITSET(edgeNum) ] ] - verts[ edge->v[ INT32_SIGNBITNOTSET(edgeNum) ] ];
if ( dir.Normalize() < 2.0f * m ) {
continue;
}
dir *= m;
verts[ edge->v[ 0 ] ] -= dir;
verts[ edge->v[ 1 ] ] += dir;
}
return;
}
for ( i = 0; i < numPolys; i++ ) {
polys[i].dist -= m;
for ( j = 0; j < polys[i].numEdges; j++ ) {
edgeNum = polys[i].edges[j];
edge = &edges[abs(edgeNum)];
verts[ edge->v[ INT32_SIGNBITSET(edgeNum) ] ] -= polys[i].normal * m;
}
}
}
/*
=================
UpdateVertexIndex
=================
*/
ID_INLINE int UpdateVertexIndex( int vertexIndexNum[2], int *vertexRemap, int *vertexCopyIndex, int vertNum ) {
int s = INT32_SIGNBITSET( vertexRemap[vertNum] );
vertexIndexNum[0] = vertexRemap[vertNum];
vertexRemap[vertNum] = vertexIndexNum[s];
vertexIndexNum[1] += s;
vertexCopyIndex[vertexRemap[vertNum]] = vertNum;
return vertexRemap[vertNum];
}
/*
============
idAASLocal::GetEdgeVertexNumbers
============
*/
void idAASLocal::GetEdgeVertexNumbers( int edgeNum, int verts[2] ) const {
if ( !file ) {
verts[0] = verts[1] = 0;
return;
}
const int *v = file->GetEdge( abs(edgeNum) ).vertexNum;
verts[0] = v[INT32_SIGNBITSET(edgeNum)];
verts[1] = v[INT32_SIGNBITNOTSET(edgeNum)];
}
/*
============
idAASLocal::GetEdge
============
*/
void idAASLocal::GetEdge( int edgeNum, idVec3 &start, idVec3 &end ) const {
if ( !file ) {
start.Zero();
end.Zero();
return;
}
const int *v = file->GetEdge( abs(edgeNum) ).vertexNum;
start = file->GetVertex( v[INT32_SIGNBITSET(edgeNum)] );
end = file->GetVertex( v[INT32_SIGNBITNOTSET(edgeNum)] );
}
/*
============
idAASLocal::ShowAASBadAreas
============
*/
void idAASLocal::ShowAASBadAreas( int mode ) const {
if ( file == NULL ) {
return;
}
float height = file->GetSettings().boundingBox[1][2] - file->GetSettings().boundingBox[0][2];
for ( int i = 0; i < file->GetNumAreas(); i++ ) {
const aasArea_t &area = file->GetArea( i );
idVec3 mid;
mid.Zero();
for ( int j = 0; j < area.numEdges; j++ ) {
int edgeNum = file->GetEdgeIndex( area.firstEdge + j );
const aasEdge_t &edge = file->GetEdge( abs( edgeNum ) );
mid += file->GetVertex( edge.vertexNum[ INT32_SIGNBITSET( edgeNum ) ] );
}
mid /= area.numEdges;
bool bad = false;
if ( mode == 1 || mode == 3 ) {
int j;
for ( j = 0; j < 4; j++ ) {
int areaNum = file->PointAreaNum( mid + file->GetSettings().invGravityDir * ( j * height ) );
if ( areaNum == i ) {
break;
}
}
if ( j >= 4 ) {
bad = true;
}
}
if ( mode == 2 || mode == 3 ) {
#if 1
if ( ( area.flags & AAS_AREA_NOPUSH ) != 0 ) {
bad = true;
}
#else
idVec3 pushed = mid;
if ( file->PushPointIntoArea( i, pushed ) ) {
bad = true;
}
#endif
}
if ( bad ) {
DrawArea( i );
}
}
}
/*
============
idTraceModel::GetPolygonArea
============
*/
float idTraceModel::GetPolygonArea( int polyNum ) const {
int i;
idVec3 base, v1, v2, cross;
float total;
const traceModelPoly_t *poly;
if ( polyNum < 0 || polyNum >= numPolys ) {
return 0.0f;
}
poly = &polys[polyNum];
total = 0.0f;
base = verts[ edges[ abs(poly->edges[0]) ].v[ INT32_SIGNBITSET( poly->edges[0] ) ] ];
for ( i = 0; i < poly->numEdges; i++ ) {
v1 = verts[ edges[ abs(poly->edges[i]) ].v[ INT32_SIGNBITSET( poly->edges[i] ) ] ] - base;
v2 = verts[ edges[ abs(poly->edges[i]) ].v[ INT32_SIGNBITNOTSET( poly->edges[i] ) ] ] - base;
cross = v1.Cross( v2 );
total += cross.Length();
}
return total * 0.5f;
}
/*
============
idTraceModel::Rotate
============
*/
void idTraceModel::Rotate( const idMat3 &rotation ) {
int i, j, edgeNum;
for ( i = 0; i < numVerts; i++ ) {
verts[i] *= rotation;
}
bounds.Clear();
for ( i = 0; i < numPolys; i++ ) {
polys[i].normal *= rotation;
polys[i].bounds.Clear();
edgeNum = 0;
for ( j = 0; j < polys[i].numEdges; j++ ) {
edgeNum = polys[i].edges[j];
polys[i].bounds.AddPoint( verts[edges[abs(edgeNum)].v[INT32_SIGNBITSET(edgeNum)]] );
}
polys[i].dist = polys[i].normal * verts[edges[abs(edgeNum)].v[INT32_SIGNBITSET(edgeNum)]];
bounds += polys[i].bounds;
}
GenerateEdgeNormals();
}
/*
============
idTraceModel::SetupOctahedron
============
*/
void idTraceModel::SetupOctahedron( const idBounds &octBounds ) {
int i, e0, e1, v0, v1, v2;
idVec3 v;
if ( type != TRM_OCTAHEDRON ) {
InitOctahedron();
}
offset = ( octBounds[0] + octBounds[1] ) * 0.5f;
v[0] = octBounds[1][0] - offset[0];
v[1] = octBounds[1][1] - offset[1];
v[2] = octBounds[1][2] - offset[2];
// set vertices
verts[0].Set( offset.x + v[0], offset.y, offset.z );
verts[1].Set( offset.x - v[0], offset.y, offset.z );
verts[2].Set( offset.x, offset.y + v[1], offset.z );
verts[3].Set( offset.x, offset.y - v[1], offset.z );
verts[4].Set( offset.x, offset.y, offset.z + v[2] );
verts[5].Set( offset.x, offset.y, offset.z - v[2] );
// set polygons
for ( i = 0; i < numPolys; i++ ) {
e0 = polys[i].edges[0];
e1 = polys[i].edges[1];
v0 = edges[abs(e0)].v[INT32_SIGNBITSET(e0)];
v1 = edges[abs(e0)].v[INT32_SIGNBITNOTSET(e0)];
v2 = edges[abs(e1)].v[INT32_SIGNBITNOTSET(e1)];
// polygon plane
polys[i].normal = ( verts[v1] - verts[v0] ).Cross( verts[v2] - verts[v0] );
polys[i].normal.Normalize();
polys[i].dist = polys[i].normal * verts[v0];
// polygon bounds
polys[i].bounds[0] = polys[i].bounds[1] = verts[v0];
polys[i].bounds.AddPoint( verts[v1] );
polys[i].bounds.AddPoint( verts[v2] );
}
// trm bounds
bounds = octBounds;
GenerateEdgeNormals();
}
/*
============
idTraceModel::GetProjectionSilhouetteEdges
============
*/
int idTraceModel::GetProjectionSilhouetteEdges( const idVec3 &projectionOrigin, int silEdges[MAX_TRACEMODEL_EDGES] ) const {
int i, j, edgeNum;
int edgeIsSilEdge[MAX_TRACEMODEL_EDGES+1];
const traceModelPoly_t *poly;
idVec3 dir;
memset( edgeIsSilEdge, 0, sizeof( edgeIsSilEdge ) );
for ( i = 0; i < numPolys; i++ ) {
poly = &polys[i];
edgeNum = poly->edges[0];
dir = verts[ edges[abs(edgeNum)].v[ INT32_SIGNBITSET(edgeNum) ] ] - projectionOrigin;
if ( dir * poly->normal < 0.0f ) {
for ( j = 0; j < poly->numEdges; j++ ) {
edgeNum = poly->edges[j];
edgeIsSilEdge[abs(edgeNum)] ^= 1;
}
}
}
return GetOrderedSilhouetteEdges( edgeIsSilEdge, silEdges );
}
/*
================
idCollisionModelManagerLocal::DrawPolygon
================
*/
void idCollisionModelManagerLocal::DrawPolygon( cm_model_t* model, cm_polygon_t* p, const idVec3& origin, const idMat3& axis, const idVec3& viewOrigin )
{
int i, edgeNum;
cm_edge_t* edge;
idVec3 center, end, dir;
if( cm_backFaceCull.GetBool() )
{
edgeNum = p->edges[0];
edge = model->edges + abs( edgeNum );
dir = model->vertices[edge->vertexNum[0]].p - viewOrigin;
if( dir * p->plane.Normal() > 0.0f )
{
return;
}
}
if( cm_drawNormals.GetBool() )
{
center = vec3_origin;
for( i = 0; i < p->numEdges; i++ )
{
edgeNum = p->edges[i];
edge = model->edges + abs( edgeNum );
center += model->vertices[edge->vertexNum[edgeNum < 0]].p;
}
center *= ( 1.0f / p->numEdges );
if( axis.IsRotated() )
{
center = center * axis + origin;
end = center + 5 * ( axis * p->plane.Normal() );
}
else
{
center += origin;
end = center + 5 * p->plane.Normal();
}
common->RW()->DebugArrow( colorMagenta, center, end, 1 );
}
if( cm_drawFilled.GetBool() )
{
idFixedWinding winding;
for( i = p->numEdges - 1; i >= 0; i-- )
{
edgeNum = p->edges[i];
edge = model->edges + abs( edgeNum );
winding += origin + model->vertices[edge->vertexNum[INT32_SIGNBITSET( edgeNum )]].p * axis;
}
common->RW()->DebugPolygon( cm_color, winding );
}
else
{
for( i = 0; i < p->numEdges; i++ )
{
edgeNum = p->edges[i];
edge = model->edges + abs( edgeNum );
if( edge->checkcount == checkCount )
{
continue;
}
edge->checkcount = checkCount;
DrawEdge( model, edgeNum, origin, axis );
}
}
}
/*
====================
idSurface_Polytope::SplitPolytope
====================
*/
int idSurface_Polytope::SplitPolytope( const idPlane &plane, const float epsilon, idSurface_Polytope **front, idSurface_Polytope **back ) const {
int side, i, j, s, v0, v1, v2, edgeNum;
idSurface *surface[2];
idSurface_Polytope *polytopeSurfaces[2], *surf;
int *onPlaneEdges[2];
onPlaneEdges[0] = (int *) _alloca( indexes.Num() / 3 * sizeof( int ) );
onPlaneEdges[1] = (int *) _alloca( indexes.Num() / 3 * sizeof( int ) );
side = Split( plane, epsilon, &surface[0], &surface[1], onPlaneEdges[0], onPlaneEdges[1] );
*front = polytopeSurfaces[0] = new (TAG_IDLIB_SURFACE) idSurface_Polytope;
*back = polytopeSurfaces[1] = new (TAG_IDLIB_SURFACE) idSurface_Polytope;
for ( s = 0; s < 2; s++ ) {
if ( surface[s] ) {
polytopeSurfaces[s] = new idSurface_Polytope( *surface[s] );
delete surface[s];
surface[s] = NULL;
}
}
*front = polytopeSurfaces[0];
*back = polytopeSurfaces[1];
if ( side != SIDE_CROSS ) {
return side;
}
// add triangles to close off the front and back polytope
for ( s = 0; s < 2; s++ ) {
surf = polytopeSurfaces[s];
edgeNum = surf->edgeIndexes[onPlaneEdges[s][0]];
v0 = surf->edges[abs(edgeNum)].verts[INT32_SIGNBITSET(edgeNum)];
v1 = surf->edges[abs(edgeNum)].verts[INT32_SIGNBITNOTSET(edgeNum)];
for ( i = 1; onPlaneEdges[s][i] >= 0; i++ ) {
for ( j = i+1; onPlaneEdges[s][j] >= 0; j++ ) {
edgeNum = surf->edgeIndexes[onPlaneEdges[s][j]];
if ( v1 == surf->edges[abs(edgeNum)].verts[INT32_SIGNBITSET(edgeNum)] ) {
v1 = surf->edges[abs(edgeNum)].verts[INT32_SIGNBITNOTSET(edgeNum)];
SwapValues( onPlaneEdges[s][i], onPlaneEdges[s][j] );
break;
}
}
}
for ( i = 2; onPlaneEdges[s][i] >= 0; i++ ) {
edgeNum = surf->edgeIndexes[onPlaneEdges[s][i]];
v1 = surf->edges[abs(edgeNum)].verts[INT32_SIGNBITNOTSET(edgeNum)];
v2 = surf->edges[abs(edgeNum)].verts[INT32_SIGNBITSET(edgeNum)];
surf->indexes.Append( v0 );
surf->indexes.Append( v1 );
surf->indexes.Append( v2 );
}
surf->GenerateEdgeIndexes();
}
return side;
}
/*
================
idCollisionModelManagerLocal::RotateTrmEdgeThroughPolygon
================
*/
void idCollisionModelManagerLocal::RotateTrmEdgeThroughPolygon( cm_traceWork_t *tw, cm_polygon_t *poly, cm_trmEdge_t *trmEdge ) {
int i, j, edgeNum;
float f1, f2, startTan, dir, tanHalfAngle;
cm_edge_t *edge;
cm_vertex_t *v1, *v2;
idVec3 collisionPoint, collisionNormal, origin, epsDir;
idPluecker epsPl;
idBounds bounds;
// if the trm is convex and the rotation axis intersects the trm
if ( tw->isConvex && tw->axisIntersectsTrm ) {
// if both points are behind the polygon the edge cannot collide within a 180 degrees rotation
if ( tw->vertices[trmEdge->vertexNum[0]].polygonSide & tw->vertices[trmEdge->vertexNum[1]].polygonSide ) {
return;
}
}
// if the trace model edge rotation bounds do not intersect the polygon bounds
if ( !trmEdge->rotationBounds.IntersectsBounds( poly->bounds ) ) {
return;
}
// edge rotation bounds should cross polygon plane
if ( trmEdge->rotationBounds.PlaneSide( poly->plane ) != SIDE_CROSS ) {
return;
}
// check edges for a collision
for ( i = 0; i < poly->numEdges; i++ ) {
edgeNum = poly->edges[i];
edge = tw->model->edges + abs(edgeNum);
// if this edge is already checked
if ( edge->checkcount == idCollisionModelManagerLocal::checkCount ) {
continue;
}
// can never collide with internal edges
if ( edge->internal ) {
continue;
}
v1 = tw->model->vertices + edge->vertexNum[INT32_SIGNBITSET( edgeNum )];
v2 = tw->model->vertices + edge->vertexNum[INT32_SIGNBITNOTSET( edgeNum )];
// edge bounds
for ( j = 0; j < 3; j++ ) {
if ( v1->p[j] > v2->p[j] ) {
bounds[0][j] = v2->p[j];
bounds[1][j] = v1->p[j];
}
else {
bounds[0][j] = v1->p[j];
bounds[1][j] = v2->p[j];
}
}
// if the trace model edge rotation bounds do not intersect the polygon edge bounds
if ( !trmEdge->rotationBounds.IntersectsBounds( bounds ) ) {
continue;
}
f1 = trmEdge->pl.PermutedInnerProduct( tw->polygonEdgePlueckerCache[i] );
// pluecker coordinate for epsilon expanded edge
epsDir = edge->normal * (CM_CLIP_EPSILON+CM_PL_RANGE_EPSILON);
epsPl.FromLine( tw->model->vertices[edge->vertexNum[0]].p + epsDir,
tw->model->vertices[edge->vertexNum[1]].p + epsDir );
f2 = trmEdge->pl.PermutedInnerProduct( epsPl );
// if the rotating edge is inbetween the polygon edge and the epsilon expanded edge
if ( ( f1 < 0.0f && f2 > 0.0f ) || ( f1 > 0.0f && f2 < 0.0f ) ) {
if ( !EdgeFurthestFromEdge( tw, trmEdge->plzaxis, v1->p, v2->p, startTan, dir ) ) {
continue;
}
if ( dir <= 0.0f ) {
// moving towards the polygon edge so stop immediately
tanHalfAngle = 0.0f;
}
else if ( idMath::Fabs( startTan ) >= tw->maxTan ) {
// never going to get beyond the start tangent during the current rotation
continue;
}
else {
// collide with the epsilon expanded edge
if ( !RotateEdgeThroughEdge(tw, trmEdge->plzaxis, v1->p + epsDir, v2->p + epsDir, idMath::Fabs( startTan ), tanHalfAngle ) ) {
tanHalfAngle = startTan;
}
}
}
else {
// collide with the epsilon expanded edge
epsDir = edge->normal * CM_CLIP_EPSILON;
if ( !RotateEdgeThroughEdge(tw, trmEdge->plzaxis, v1->p + epsDir, v2->p + epsDir, 0.0f, tanHalfAngle ) ) {
continue;
}
}
if ( idMath::Fabs( tanHalfAngle ) >= tw->maxTan ) {
continue;
}
// check if the collision is between the edge bounds
if ( !CollisionBetweenEdgeBounds( tw, trmEdge->start, trmEdge->end, v1->p, v2->p,
tanHalfAngle, collisionPoint, collisionNormal ) ) {
continue;
}
// allow rotation if the rotation axis goes through the collisionPoint
origin = tw->origin + tw->axis * ( tw->axis * ( collisionPoint - tw->origin ) );
if ( ( collisionPoint - origin ).LengthSqr() < ROTATION_AXIS_EPSILON * ROTATION_AXIS_EPSILON ) {
continue;
}
// fill in trace structure
tw->maxTan = idMath::Fabs( tanHalfAngle );
tw->trace.c.normal = collisionNormal;
tw->trace.c.normal.Normalize();
tw->trace.c.dist = tw->trace.c.normal * v1->p;
// make sure the collision plane faces the trace model
if ( (tw->trace.c.normal * trmEdge->start) - tw->trace.c.dist < 0 ) {
tw->trace.c.normal = -tw->trace.c.normal;
tw->trace.c.dist = -tw->trace.c.dist;
}
tw->trace.c.contents = poly->contents;
tw->trace.c.material = poly->material;
tw->trace.c.type = CONTACT_EDGE;
tw->trace.c.modelFeature = edgeNum;
tw->trace.c.trmFeature = trmEdge - tw->edges;
tw->trace.c.point = collisionPoint;
// if no collision can be closer
if ( tw->maxTan == 0.0f ) {
break;
}
}
}
/*
================
idCollisionModelManagerLocal::Rotation180
================
*/
void idCollisionModelManagerLocal::Rotation180( trace_t *results, const idVec3 &rorg, const idVec3 &axis,
const float startAngle, const float endAngle, const idVec3 &start,
const idTraceModel *trm, const idMat3 &trmAxis, int contentMask,
cmHandle_t model, const idVec3 &modelOrigin, const idMat3 &modelAxis ) {
int i, j, edgeNum;
float d, maxErr, initialTan;
bool model_rotated, trm_rotated;
idVec3 dir, dir1, dir2, tmp, vr, vup, org, at, bt;
idMat3 invModelAxis, endAxis, tmpAxis;
idRotation startRotation, endRotation;
idPluecker plaxis;
cm_trmPolygon_t *poly;
cm_trmEdge_t *edge;
cm_trmVertex_t *vert;
ALIGN16( static cm_traceWork_t tw );
if ( model < 0 || model > MAX_SUBMODELS || model > idCollisionModelManagerLocal::maxModels ) {
common->Printf("idCollisionModelManagerLocal::Rotation180: invalid model handle\n");
return;
}
if ( !idCollisionModelManagerLocal::models[model] ) {
common->Printf("idCollisionModelManagerLocal::Rotation180: invalid model\n");
return;
}
idCollisionModelManagerLocal::checkCount++;
tw.trace.fraction = 1.0f;
tw.trace.c.contents = 0;
tw.trace.c.type = CONTACT_NONE;
tw.contents = contentMask;
tw.isConvex = true;
tw.rotation = true;
tw.positionTest = false;
tw.axisIntersectsTrm = false;
tw.quickExit = false;
tw.angle = endAngle - startAngle;
assert( tw.angle > -180.0f && tw.angle < 180.0f );
tw.maxTan = initialTan = idMath::Fabs( tan( ( idMath::PI / 360.0f ) * tw.angle ) );
tw.model = idCollisionModelManagerLocal::models[model];
tw.start = start - modelOrigin;
// rotation axis, axis is assumed to be normalized
tw.axis = axis;
// assert( tw.axis[0] * tw.axis[0] + tw.axis[1] * tw.axis[1] + tw.axis[2] * tw.axis[2] > 0.99f );
// rotation origin projected into rotation plane through tw.start
tw.origin = rorg - modelOrigin;
d = (tw.axis * tw.origin) - ( tw.axis * tw.start );
tw.origin = tw.origin - d * tw.axis;
// radius of rotation
tw.radius = ( tw.start - tw.origin ).Length();
// maximum error of the circle approximation traced through the axial BSP tree
d = tw.radius * tw.radius - (CIRCLE_APPROXIMATION_LENGTH*CIRCLE_APPROXIMATION_LENGTH*0.25f);
if ( d > 0.0f ) {
maxErr = tw.radius - idMath::Sqrt( d );
} else {
maxErr = tw.radius;
}
model_rotated = modelAxis.IsRotated();
if ( model_rotated ) {
invModelAxis = modelAxis.Transpose();
tw.axis *= invModelAxis;
tw.origin *= invModelAxis;
}
startRotation.Set( tw.origin, tw.axis, startAngle );
endRotation.Set( tw.origin, tw.axis, endAngle );
// create matrix which rotates the rotation axis to the z-axis
tw.axis.NormalVectors( vr, vup );
tw.matrix[0][0] = vr[0];
tw.matrix[1][0] = vr[1];
tw.matrix[2][0] = vr[2];
tw.matrix[0][1] = -vup[0];
tw.matrix[1][1] = -vup[1];
tw.matrix[2][1] = -vup[2];
tw.matrix[0][2] = tw.axis[0];
tw.matrix[1][2] = tw.axis[1];
tw.matrix[2][2] = tw.axis[2];
// if optimized point trace
if ( !trm || ( trm->bounds[1][0] - trm->bounds[0][0] <= 0.0f &&
trm->bounds[1][1] - trm->bounds[0][1] <= 0.0f &&
trm->bounds[1][2] - trm->bounds[0][2] <= 0.0f ) ) {
if ( model_rotated ) {
// rotate trace instead of model
tw.start *= invModelAxis;
}
tw.end = tw.start;
// if we start at a specific angle
if ( startAngle != 0.0f ) {
startRotation.RotatePoint( tw.start );
}
// calculate end position of rotation
endRotation.RotatePoint( tw.end );
// calculate rotation origin projected into rotation plane through the vertex
tw.numVerts = 1;
tw.vertices[0].p = tw.start;
tw.vertices[0].endp = tw.end;
tw.vertices[0].used = true;
tw.vertices[0].rotationOrigin = tw.origin + tw.axis * ( tw.axis * ( tw.vertices[0].p - tw.origin ) );
BoundsForRotation( tw.vertices[0].rotationOrigin, tw.axis, tw.start, tw.end, tw.vertices[0].rotationBounds );
// rotation bounds
tw.bounds = tw.vertices[0].rotationBounds;
tw.numEdges = tw.numPolys = 0;
// collision with single point
tw.pointTrace = true;
// extents is set to maximum error of the circle approximation traced through the axial BSP tree
tw.extents[0] = tw.extents[1] = tw.extents[2] = maxErr + CM_BOX_EPSILON;
// setup rotation heart plane
tw.heartPlane1.SetNormal( tw.axis );
tw.heartPlane1.FitThroughPoint( tw.start );
tw.maxDistFromHeartPlane1 = CM_BOX_EPSILON;
// trace through the model
idCollisionModelManagerLocal::TraceThroughModel( &tw );
// store results
*results = tw.trace;
results->endpos = start;
if ( tw.maxTan == initialTan ) {
results->fraction = 1.0f;
} else {
results->fraction = idMath::Fabs( atan( tw.maxTan ) * ( 2.0f * 180.0f / idMath::PI ) / tw.angle );
}
assert( results->fraction <= 1.0f );
endRotation.Set( rorg, axis, startAngle + (endAngle-startAngle) * results->fraction );
endRotation.RotatePoint( results->endpos );
results->endAxis.Identity();
if ( results->fraction < 1.0f ) {
// rotate trace plane normal if there was a collision with a rotated model
if ( model_rotated ) {
results->c.normal *= modelAxis;
results->c.point *= modelAxis;
}
results->c.point += modelOrigin;
results->c.dist += modelOrigin * results->c.normal;
}
return;
}
tw.pointTrace = false;
// 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++ ) {
tw.vertices[i].p *= invModelAxis;
}
}
for ( i = 0; i < tw.numVerts; i++ ) {
tw.vertices[i].endp = tw.vertices[i].p;
}
// if we start at a specific angle
if ( startAngle != 0.0f ) {
for ( i = 0; i < tw.numVerts; i++ ) {
startRotation.RotatePoint( tw.vertices[i].p );
}
}
for ( i = 0; i < tw.numVerts; i++ ) {
// end position of vertex
endRotation.RotatePoint( tw.vertices[i].endp );
}
// add offset to start point
if ( trm_rotated ) {
tw.start += trm->offset * trmAxis;
} else {
tw.start += trm->offset;
}
// if the model is rotated
if ( model_rotated ) {
// rotate trace instead of model
tw.start *= invModelAxis;
}
tw.end = tw.start;
// if we start at a specific angle
if ( startAngle != 0.0f ) {
startRotation.RotatePoint( tw.start );
}
// calculate end position of rotation
endRotation.RotatePoint( tw.end );
// setup trm vertices
for ( vert = tw.vertices, i = 0; i < tw.numVerts; i++, vert++ ) {
// calculate rotation origin projected into rotation plane through the vertex
vert->rotationOrigin = tw.origin + tw.axis * ( tw.axis * ( vert->p - tw.origin ) );
// calculate rotation bounds for this vertex
BoundsForRotation( vert->rotationOrigin, tw.axis, vert->p, vert->endp, vert->rotationBounds );
// if the rotation axis goes through the vertex then the vertex is not used
d = ( vert->p - vert->rotationOrigin ).LengthSqr();
if ( d > ROTATION_AXIS_EPSILON * ROTATION_AXIS_EPSILON ) {
vert->used = true;
}
}
// setup trm edges
for ( edge = tw.edges + 1, i = 1; i <= tw.numEdges; i++, edge++ ) {
// if the rotation axis goes through both the edge vertices then the edge is not used
if ( tw.vertices[edge->vertexNum[0]].used | tw.vertices[edge->vertexNum[1]].used ) {
edge->used = true;
}
// edge start, end and pluecker coordinate
edge->start = tw.vertices[edge->vertexNum[0]].p;
edge->end = tw.vertices[edge->vertexNum[1]].p;
edge->pl.FromLine( edge->start, edge->end );
// pluecker coordinate for edge being rotated about the z-axis
at = ( edge->start - tw.origin ) * tw.matrix;
bt = ( edge->end - tw.origin ) * tw.matrix;
edge->plzaxis.FromLine( at, bt );
// get edge rotation bounds from the rotation bounds of both vertices
edge->rotationBounds = tw.vertices[edge->vertexNum[0]].rotationBounds;
edge->rotationBounds.AddBounds( tw.vertices[edge->vertexNum[1]].rotationBounds );
// used to calculate if the rotation axis intersects the trm
edge->bitNum = 0;
}
tw.bounds.Clear();
// rotate trm polygon planes
if ( trm_rotated & model_rotated ) {
tmpAxis = trmAxis * invModelAxis;
for ( poly = tw.polys, i = 0; i < tw.numPolys; i++, poly++ ) {
poly->plane *= tmpAxis;
}
} else if ( trm_rotated ) {
for ( poly = tw.polys, i = 0; i < tw.numPolys; i++, poly++ ) {
poly->plane *= trmAxis;
}
} else if ( model_rotated ) {
for ( poly = tw.polys, i = 0; i < tw.numPolys; i++, poly++ ) {
poly->plane *= invModelAxis;
}
}
// setup trm polygons
for ( poly = tw.polys, i = 0; i < tw.numPolys; i++, poly++ ) {
poly->used = true;
// set trm polygon plane distance
poly->plane.FitThroughPoint( tw.edges[abs(poly->edges[0])].start );
// get polygon bounds from edge bounds
poly->rotationBounds.Clear();
for ( j = 0; j < poly->numEdges; j++ ) {
// add edge rotation bounds to polygon rotation bounds
edge = &tw.edges[abs( poly->edges[j] )];
poly->rotationBounds.AddBounds( edge->rotationBounds );
}
// get trace bounds from polygon bounds
tw.bounds.AddBounds( poly->rotationBounds );
}
// extents including the maximum error of the circle approximation traced through the axial BSP tree
for ( i = 0; i < 3; i++ ) {
tw.size[0][i] = tw.bounds[0][i] - tw.start[i];
tw.size[1][i] = tw.bounds[1][i] - tw.start[i];
if ( idMath::Fabs( tw.size[0][i] ) > idMath::Fabs( tw.size[1][i] ) ) {
tw.extents[i] = idMath::Fabs( tw.size[0][i] ) + maxErr + CM_BOX_EPSILON;
} else {
tw.extents[i] = idMath::Fabs( tw.size[1][i] ) + maxErr + CM_BOX_EPSILON;
}
}
// for back-face culling
if ( tw.isConvex ) {
if ( tw.start == tw.origin ) {
tw.axisIntersectsTrm = true;
} else {
// determine if the rotation axis intersects the trm
plaxis.FromRay( tw.origin, tw.axis );
for ( poly = tw.polys, i = 0; i < tw.numPolys; i++, poly++ ) {
// back face cull polygons
if ( poly->plane.Normal() * tw.axis > 0.0f ) {
continue;
}
// test if the axis goes between the polygon edges
for ( j = 0; j < poly->numEdges; j++ ) {
edgeNum = poly->edges[j];
edge = tw.edges + abs( edgeNum );
if ( ( edge->bitNum & 2 ) == 0 ) {
d = plaxis.PermutedInnerProduct( edge->pl );
edge->bitNum = ( ( d < 0.0f ) ? 1 : 0 ) | 2;
}
if ( ( edge->bitNum ^ INT32_SIGNBITSET( edgeNum ) ) & 1 ) {
break;
}
}
if ( j >= poly->numEdges ) {
tw.axisIntersectsTrm = true;
break;
}
}
}
}
// setup rotation heart plane
tw.heartPlane1.SetNormal( tw.axis );
tw.heartPlane1.FitThroughPoint( tw.start );
tw.maxDistFromHeartPlane1 = 0.0f;
for ( i = 0; i < tw.numVerts; i++ ) {
d = idMath::Fabs( tw.heartPlane1.Distance( tw.vertices[i].p ) );
if ( d > tw.maxDistFromHeartPlane1 ) {
tw.maxDistFromHeartPlane1 = d;
}
}
tw.maxDistFromHeartPlane1 += CM_BOX_EPSILON;
// inverse rotation to rotate model vertices towards trace model
tw.modelVertexRotation.Set( tw.origin, tw.axis, -tw.angle );
// trace through the model
idCollisionModelManagerLocal::TraceThroughModel( &tw );
// store results
*results = tw.trace;
results->endpos = start;
if ( tw.maxTan == initialTan ) {
results->fraction = 1.0f;
} else {
results->fraction = idMath::Fabs( atan( tw.maxTan ) * ( 2.0f * 180.0f / idMath::PI ) / tw.angle );
}
assert( results->fraction <= 1.0f );
endRotation.Set( rorg, axis, startAngle + (endAngle-startAngle) * results->fraction );
endRotation.RotatePoint( results->endpos );
results->endAxis = trmAxis * endRotation.ToMat3();
if ( results->fraction < 1.0f ) {
// rotate trace plane normal if there was a collision with a rotated model
if ( model_rotated ) {
results->c.normal *= modelAxis;
results->c.point *= modelAxis;
}
results->c.point += modelOrigin;
results->c.dist += modelOrigin * results->c.normal;
}
}
/*
================
idCollisionModelManagerLocal::RotateTrmThroughPolygon
returns true if the polygon blocks the complete rotation
================
*/
bool idCollisionModelManagerLocal::RotateTrmThroughPolygon( cm_traceWork_t *tw, cm_polygon_t *p ) {
int i, j, k, edgeNum;
float d;
cm_trmVertex_t *bv;
cm_trmEdge_t *be;
cm_trmPolygon_t *bp;
cm_vertex_t *v;
cm_edge_t *e;
idVec3 *rotationOrigin;
// if already checked this polygon
if ( p->checkcount == idCollisionModelManagerLocal::checkCount ) {
return false;
}
p->checkcount = idCollisionModelManagerLocal::checkCount;
// if this polygon does not have the right contents behind it
if ( !(p->contents & tw->contents) ) {
return false;
}
// if the the trace bounds do not intersect the polygon bounds
if ( !tw->bounds.IntersectsBounds( p->bounds ) ) {
return false;
}
// back face culling
if ( tw->isConvex ) {
// if the center of the convex trm is behind the polygon plane
if ( p->plane.Distance( tw->start ) < 0.0f ) {
// if the rotation axis intersects the trace model
if ( tw->axisIntersectsTrm ) {
return false;
}
else {
// if the direction of motion at the start and end position of the
// center of the trm both go towards or away from the polygon plane
// or if the intersections of the rotation axis with the expanded heart planes
// are both in front of the polygon plane
}
}
}
// if the polygon is too far from the first heart plane
d = p->bounds.PlaneDistance( tw->heartPlane1 );
if ( idMath::Fabs(d) > tw->maxDistFromHeartPlane1 ) {
return false;
}
// rotation bounds should cross polygon plane
switch( tw->bounds.PlaneSide( p->plane ) ) {
case PLANESIDE_CROSS:
break;
case PLANESIDE_FRONT:
if ( tw->model->isConvex ) {
tw->quickExit = true;
return true;
}
default:
return false;
}
for ( i = 0; i < tw->numVerts; i++ ) {
bv = tw->vertices + i;
// calculate polygon side this vertex is on
d = p->plane.Distance( bv->p );
bv->polygonSide = ( d < 0.0f );
}
for ( i = 0; i < p->numEdges; i++ ) {
edgeNum = p->edges[i];
e = tw->model->edges + abs(edgeNum);
v = tw->model->vertices + e->vertexNum[INT32_SIGNBITSET( edgeNum )];
// pluecker coordinate for edge
tw->polygonEdgePlueckerCache[i].FromLine( tw->model->vertices[e->vertexNum[0]].p,
tw->model->vertices[e->vertexNum[1]].p );
// calculate rotation origin projected into rotation plane through the vertex
tw->polygonRotationOriginCache[i] = tw->origin + tw->axis * ( tw->axis * ( v->p - tw->origin ) );
}
// copy first to last so we can easily cycle through
tw->polygonRotationOriginCache[p->numEdges] = tw->polygonRotationOriginCache[0];
// fast point rotation
if ( tw->pointTrace ) {
RotateTrmVertexThroughPolygon( tw, p, &tw->vertices[0], 0 );
}
else {
// rotate trm vertices through polygon
for ( i = 0; i < tw->numVerts; i++ ) {
bv = tw->vertices + i;
if ( bv->used ) {
RotateTrmVertexThroughPolygon( tw, p, bv, i );
}
}
// rotate trm edges through polygon
for ( i = 1; i <= tw->numEdges; i++ ) {
be = tw->edges + i;
if ( be->used ) {
RotateTrmEdgeThroughPolygon( tw, p, be );
}
}
// rotate all polygon vertices through the trm
for ( i = 0; i < p->numEdges; i++ ) {
edgeNum = p->edges[i];
e = tw->model->edges + abs(edgeNum);
if ( e->checkcount == idCollisionModelManagerLocal::checkCount ) {
continue;
}
// set edge check count
e->checkcount = idCollisionModelManagerLocal::checkCount;
// can never collide with internal edges
if ( e->internal ) {
continue;
}
// got to check both vertices because we skip internal edges
for ( k = 0; k < 2; k++ ) {
v = tw->model->vertices + e->vertexNum[k ^ INT32_SIGNBITSET( edgeNum )];
// if this vertex is already checked
if ( v->checkcount == idCollisionModelManagerLocal::checkCount ) {
continue;
}
// set vertex check count
v->checkcount = idCollisionModelManagerLocal::checkCount;
// if the vertex is outside the trm rotation bounds
if ( !tw->bounds.ContainsPoint( v->p ) ) {
continue;
}
rotationOrigin = &tw->polygonRotationOriginCache[i+k];
for ( j = 0; j < tw->numPolys; j++ ) {
bp = tw->polys + j;
if ( bp->used ) {
RotateVertexThroughTrmPolygon( tw, bp, p, v, *rotationOrigin );
}
}
}
}
}
return ( tw->maxTan == 0.0f );
}
/*
============
idTraceModel::SetupDodecahedron
============
*/
void idTraceModel::SetupDodecahedron( const idBounds &dodBounds ) {
int i, e0, e1, e2, e3, v0, v1, v2, v3, v4;
float s, d;
idVec3 a, b, c;
if ( type != TRM_DODECAHEDRON ) {
InitDodecahedron();
}
a[0] = a[1] = a[2] = 0.5773502691896257f; // 1.0f / ( 3.0f ) ^ 0.5f;
b[0] = b[1] = b[2] = 0.3568220897730899f; // ( ( 3.0f - ( 5.0f ) ^ 0.5f ) / 6.0f ) ^ 0.5f;
c[0] = c[1] = c[2] = 0.9341723589627156f; // ( ( 3.0f + ( 5.0f ) ^ 0.5f ) / 6.0f ) ^ 0.5f;
d = 0.5f / c[0];
s = ( dodBounds[1][0] - dodBounds[0][0] ) * d;
a[0] *= s;
b[0] *= s;
c[0] *= s;
s = ( dodBounds[1][1] - dodBounds[0][1] ) * d;
a[1] *= s;
b[1] *= s;
c[1] *= s;
s = ( dodBounds[1][2] - dodBounds[0][2] ) * d;
a[2] *= s;
b[2] *= s;
c[2] *= s;
offset = ( dodBounds[0] + dodBounds[1] ) * 0.5f;
// set vertices
verts[ 0].Set( offset.x + a[0], offset.y + a[1], offset.z + a[2] );
verts[ 1].Set( offset.x + a[0], offset.y + a[1], offset.z - a[2] );
verts[ 2].Set( offset.x + a[0], offset.y - a[1], offset.z + a[2] );
verts[ 3].Set( offset.x + a[0], offset.y - a[1], offset.z - a[2] );
verts[ 4].Set( offset.x - a[0], offset.y + a[1], offset.z + a[2] );
verts[ 5].Set( offset.x - a[0], offset.y + a[1], offset.z - a[2] );
verts[ 6].Set( offset.x - a[0], offset.y - a[1], offset.z + a[2] );
verts[ 7].Set( offset.x - a[0], offset.y - a[1], offset.z - a[2] );
verts[ 8].Set( offset.x + b[0], offset.y + c[1], offset.z );
verts[ 9].Set( offset.x - b[0], offset.y + c[1], offset.z );
verts[10].Set( offset.x + b[0], offset.y - c[1], offset.z );
verts[11].Set( offset.x - b[0], offset.y - c[1], offset.z );
verts[12].Set( offset.x + c[0], offset.y , offset.z + b[2] );
verts[13].Set( offset.x + c[0], offset.y , offset.z - b[2] );
verts[14].Set( offset.x - c[0], offset.y , offset.z + b[2] );
verts[15].Set( offset.x - c[0], offset.y , offset.z - b[2] );
verts[16].Set( offset.x , offset.y + b[1], offset.z + c[2] );
verts[17].Set( offset.x , offset.y - b[1], offset.z + c[2] );
verts[18].Set( offset.x , offset.y + b[1], offset.z - c[2] );
verts[19].Set( offset.x , offset.y - b[1], offset.z - c[2] );
// set polygons
for ( i = 0; i < numPolys; i++ ) {
e0 = polys[i].edges[0];
e1 = polys[i].edges[1];
e2 = polys[i].edges[2];
e3 = polys[i].edges[3];
v0 = edges[abs(e0)].v[INT32_SIGNBITSET(e0)];
v1 = edges[abs(e0)].v[INT32_SIGNBITNOTSET(e0)];
v2 = edges[abs(e1)].v[INT32_SIGNBITNOTSET(e1)];
v3 = edges[abs(e2)].v[INT32_SIGNBITNOTSET(e2)];
v4 = edges[abs(e3)].v[INT32_SIGNBITNOTSET(e3)];
// polygon plane
polys[i].normal = ( verts[v1] - verts[v0] ).Cross( verts[v2] - verts[v0] );
polys[i].normal.Normalize();
polys[i].dist = polys[i].normal * verts[v0];
// polygon bounds
polys[i].bounds[0] = polys[i].bounds[1] = verts[v0];
polys[i].bounds.AddPoint( verts[v1] );
polys[i].bounds.AddPoint( verts[v2] );
polys[i].bounds.AddPoint( verts[v3] );
polys[i].bounds.AddPoint( verts[v4] );
}
// trm bounds
bounds = dodBounds;
GenerateEdgeNormals();
}
