/*
============
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[INTSIGNBITSET(edgeNum)];
verts[1] = v[INTSIGNBITNOTSET(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[INTSIGNBITSET(edgeNum)] );
end = file->GetVertex( v[INTSIGNBITNOTSET(edgeNum)] );
}
/*
============
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[INTSIGNBITSET(e0)];
v1 = edges[abs(e0)].v[INTSIGNBITNOTSET(e0)];
v2 = edges[abs(e1)].v[INTSIGNBITNOTSET(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();
}
/*
================
idStr::Cmp
================
*/
int idStr::Cmp( const char *s1, const char *s2 ) {
int c1, c2, d;
do {
c1 = *s1++;
c2 = *s2++;
d = c1 - c2;
if ( d ) {
return ( INTSIGNBITNOTSET( d ) << 1 ) - 1;
}
} while( c1 );
return 0; // strings are equal
}
/*
================
idAASReach::Reachability_Swim
================
*/
void idAASReach::Reachability_Swim( int areaNum ) {
int i, faceNum, otherAreaNum;
aasArea_t *area;
aasFace_t *face;
idReachability_Swim *reach;
if ( !CanSwimInArea( areaNum ) ) {
return;
}
area = &file->areas[areaNum];
for ( i = 0; i < area->numFaces; i++ ) {
faceNum = file->faceIndex[area->firstFace + i];
face = &file->faces[abs(faceNum)];
otherAreaNum = face->areas[INTSIGNBITNOTSET(faceNum)];
if ( otherAreaNum == 0 ) {
continue;
}
if ( !CanSwimInArea( otherAreaNum ) ) {
continue;
}
if ( ReachabilityExists( areaNum, otherAreaNum ) ) {
continue;
}
// create reachability going through this face
reach = new idReachability_Swim();
reach->travelType = TFL_SWIM;
reach->toAreaNum = otherAreaNum;
reach->fromAreaNum = areaNum;
reach->edgeNum = 0;
reach->travelTime = 1;
reach->start = file->FaceCenter( abs(faceNum) );
if ( faceNum < 0 ) {
reach->end = reach->start + file->planeList[face->planeNum].Normal() * INSIDEUNITS_SWIMEND;
} else {
reach->end = reach->start - file->planeList[face->planeNum].Normal() * INSIDEUNITS_SWIMEND;
}
AddReachabilityToArea( reach, areaNum );
}
}
/*
============
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[ INTSIGNBITSET( poly->edges[0] ) ] ];
for ( i = 0; i < poly->numEdges; i++ ) {
v1 = verts[ edges[ abs(poly->edges[i]) ].v[ INTSIGNBITSET( poly->edges[i] ) ] ] - base;
v2 = verts[ edges[ abs(poly->edges[i]) ].v[ INTSIGNBITNOTSET( poly->edges[i] ) ] ] - base;
cross = v1.Cross( v2 );
total += cross.Length();
}
return total * 0.5f;
}
/*
================
idStr::Cmpn
================
*/
int idStr::Cmpn( const char *s1, const char *s2, int n ) {
int c1, c2, d;
assert( n >= 0 );
do {
c1 = *s1++;
c2 = *s2++;
if ( !n-- ) {
return 0; // strings are equal until end point
}
d = c1 - c2;
if ( d ) {
return ( INTSIGNBITNOTSET( d ) << 1 ) - 1;
}
} while( c1 );
return 0; // strings are equal
}
/*
================
idStr::IcmpnPath
================
*/
int idStr::IcmpnPath( const char *s1, const char *s2, int n ) {
int c1, c2, d;
#if 0
//#if !defined( _WIN32 )
idLib::common->Printf( "WARNING: IcmpPath used on a case-sensitive filesystem?\n" );
#endif
assert( n >= 0 );
do {
c1 = *s1++;
c2 = *s2++;
if ( !n-- ) {
return 0; // strings are equal until end point
}
d = c1 - c2;
while( d ) {
if ( c1 <= 'Z' && c1 >= 'A' ) {
d += ('a' - 'A');
if ( !d ) {
break;
}
}
if ( c1 == '\\' ) {
d += ('/' - '\\');
if ( !d ) {
break;
}
}
if ( c2 <= 'Z' && c2 >= 'A' ) {
d -= ('a' - 'A');
if ( !d ) {
break;
}
}
if ( c2 == '\\' ) {
d -= ('/' - '\\');
if ( !d ) {
break;
}
}
// make sure folders come first
while( c1 ) {
if ( c1 == '/' || c1 == '\\' ) {
break;
}
c1 = *s1++;
}
while( c2 ) {
if ( c2 == '/' || c2 == '\\' ) {
break;
}
c2 = *s2++;
}
if ( c1 && !c2 ) {
return -1;
} else if ( !c1 && c2 ) {
return 1;
}
// same folder depth so use the regular compare
return ( INTSIGNBITNOTSET( d ) << 1 ) - 1;
}
} while( c1 );
return 0;
}
/*
================
idAASReach::Reachability_EqualFloorHeight
================
*/
void idAASReach::Reachability_EqualFloorHeight( int areaNum ) {
int i, k, l, m, n, faceNum, face1Num, face2Num, otherAreaNum, edge1Num, edge2Num;
aasArea_t *area, *otherArea;
aasFace_t *face, *face1, *face2;
idReachability_Walk *reach;
if ( !AreaHasFloor( areaNum ) ) {
return;
}
area = &file->areas[areaNum];
for ( i = 0; i < area->numFaces; i++ ) {
faceNum = file->faceIndex[area->firstFace + i];
face = &file->faces[abs(faceNum)];
otherAreaNum = face->areas[INTSIGNBITNOTSET(faceNum)];
if ( !AreaHasFloor( otherAreaNum ) ) {
continue;
}
otherArea = &file->areas[otherAreaNum];
for ( k = 0; k < area->numFaces; k++ ) {
face1Num = file->faceIndex[area->firstFace + k];
face1 = &file->faces[abs(face1Num)];
if ( !( face1->flags & FACE_FLOOR ) ) {
continue;
}
for ( l = 0; l < otherArea->numFaces; l++ ) {
face2Num = file->faceIndex[otherArea->firstFace + l];
face2 = &file->faces[abs(face2Num)];
if ( !( face2->flags & FACE_FLOOR ) ) {
continue;
}
for ( m = 0; m < face1->numEdges; m++ ) {
edge1Num = abs(file->edgeIndex[face1->firstEdge + m]);
for ( n = 0; n < face2->numEdges; n++ ) {
edge2Num = abs(file->edgeIndex[face2->firstEdge + n]);
if ( edge1Num == edge2Num ) {
break;
}
}
if ( n < face2->numEdges ) {
break;
}
}
if ( m < face1->numEdges ) {
break;
}
}
if ( l < otherArea->numFaces ) {
break;
}
}
if ( k < area->numFaces ) {
// create reachability
reach = new idReachability_Walk();
reach->travelType = TFL_WALK;
reach->toAreaNum = otherAreaNum;
reach->fromAreaNum = areaNum;
reach->edgeNum = abs( edge1Num );
reach->travelTime = 1;
reach->start = file->EdgeCenter( edge1Num );
if ( faceNum < 0 ) {
reach->end = reach->start + file->planeList[face->planeNum].Normal() * INSIDEUNITS_WALKEND;
}
else {
reach->end = reach->start - file->planeList[face->planeNum].Normal() * INSIDEUNITS_WALKEND;
}
AddReachabilityToArea( reach, areaNum );
}
}
}
/*
============
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[INTSIGNBITSET(e0)];
v1 = edges[abs(e0)].v[INTSIGNBITNOTSET(e0)];
v2 = edges[abs(e1)].v[INTSIGNBITNOTSET(e1)];
v3 = edges[abs(e2)].v[INTSIGNBITNOTSET(e2)];
v4 = edges[abs(e3)].v[INTSIGNBITNOTSET(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();
}
/*
============
idTraceModel::Shrink
============
*/
void idTraceModel::Shrink( const float m ) {
int i, j, edgeNum, vertexNum;
float d, bestd, n, invDet, f0, f1;
traceModelPoly_t *poly, *poly1, *poly2;
traceModelEdge_t *edge;
idVec3 start, dir;
int vertexPolys[MAX_TRACEMODEL_VERTS][MAX_TRACEMODEL_POLYS];
int vertexNumPolys[MAX_TRACEMODEL_VERTS];
// special case for single polygon
if ( type == TRM_POLYGON ) {
for ( i = 0; i < numEdges; i++ ) {
edgeNum = polys[0].edges[i];
edge = &edges[abs(edgeNum)];
dir = verts[ edge->v[ INTSIGNBITSET(edgeNum) ] ] - verts[ edge->v[ INTSIGNBITNOTSET(edgeNum) ] ];
if ( dir.Normalize() < 2.0f * m ) {
continue;
}
dir *= m;
verts[ edge->v[ 0 ] ] -= dir;
verts[ edge->v[ 1 ] ] += dir;
}
return;
}
// the trace model should be a closed surface
assert( IsClosedSurface() );
memset( vertexPolys, 0, sizeof( vertexPolys ) );
memset( vertexNumPolys, 0, sizeof( vertexNumPolys ) );
// move polygon planes and find the vertex polygons
for ( i = 0; i < numPolys; i++ ) {
poly = &polys[i];
poly->dist -= m;
for ( j = 0; j < poly->numEdges; j++ ) {
edgeNum = poly->edges[j];
edge = &edges[abs(edgeNum)];
vertexNum = edge->v[ INTSIGNBITSET( edgeNum ) ];
vertexPolys[vertexNum][vertexNumPolys[vertexNum]] = i;
vertexNumPolys[vertexNum]++;
}
}
// move vertices
for ( i = 0; i < numVerts; i++ ) {
assert( vertexNumPolys[i] >= 3 );
poly1 = &polys[vertexPolys[i][0]];
poly2 = NULL;
// find the polygon that is most orthogonal to the first polygon
bestd = 1.0f;
for ( j = 1; j < vertexNumPolys[i]; j++ ) {
d = fabs( poly1->normal * polys[vertexPolys[i][j]].normal );
if ( d < bestd ) {
bestd = d;
poly2 = &polys[vertexPolys[i][j]];
}
}
// calculate intersection line between planes
n = poly1->normal * poly2->normal;
invDet = 1.0f / ( 1.0f - n * n );
f0 = ( poly1->dist - n * poly2->dist ) * invDet;
f1 = ( poly2->dist - n * poly1->dist ) * invDet;
start = f0 * poly1->normal + f1 * poly2->normal;
dir = poly1->normal.Cross( poly2->normal );
// find the polygon that is most orthogonal to the plane intersection ray
bestd = 0.0f;
for ( j = 1; j < vertexNumPolys[i]; j++ ) {
d = fabs( dir * polys[vertexPolys[i][j]].normal );
if ( d > bestd ) {
bestd = d;
poly2 = &polys[vertexPolys[i][j]];
}
}
// calculate intersection with plane intersection ray
f0 = poly2->normal * start - poly2->dist;
f1 = poly2->normal * dir;
verts[i] = start - dir * ( f0 / f1 );
}
Verify();
}
/*
================
idAASBuild::GetFaceForPortal
================
*/
bool idAASBuild::GetFaceForPortal( idBrushBSPPortal *portal, int side, int *faceNum ) {
int i, j, v1num;
int numFaceEdges, faceEdges[MAX_POINTS_ON_WINDING];
idWinding *w;
aasFace_t face;
if ( portal->GetFaceNum() > 0 ) {
if ( side ) {
*faceNum = -portal->GetFaceNum();
}
else {
*faceNum = portal->GetFaceNum();
}
return true;
}
w = portal->GetWinding();
// turn the winding into a sequence of edges
numFaceEdges = 0;
v1num = -1; // first vertex unknown
for ( i = 0; i < w->GetNumPoints(); i++ ) {
GetEdge( (*w)[i].ToVec3(), (*w)[(i+1)%w->GetNumPoints()].ToVec3(), &faceEdges[numFaceEdges], v1num );
if ( faceEdges[numFaceEdges] ) {
// last vertex of this edge is the first vertex of the next edge
v1num = file->edges[ abs(faceEdges[numFaceEdges]) ].vertexNum[ INTSIGNBITNOTSET(faceEdges[numFaceEdges]) ];
// this edge is valid so keep it
numFaceEdges++;
}
}
// should have at least 3 edges
if ( numFaceEdges < 3 ) {
return false;
}
// the polygon is invalid if some edge is found twice
for ( i = 0; i < numFaceEdges; i++ ) {
for ( j = i+1; j < numFaceEdges; j++ ) {
if ( faceEdges[i] == faceEdges[j] || faceEdges[i] == -faceEdges[j] ) {
return false;
}
}
}
portal->SetFaceNum( file->faces.Num() );
face.planeNum = file->planeList.FindPlane( portal->GetPlane(), AAS_PLANE_NORMAL_EPSILON, AAS_PLANE_DIST_EPSILON );
face.flags = portal->GetFlags();
face.areas[0] = face.areas[1] = 0;
face.firstEdge = file->edgeIndex.Num();
face.numEdges = numFaceEdges;
for ( i = 0; i < numFaceEdges; i++ ) {
file->edgeIndex.Append( faceEdges[i] );
}
if ( side ) {
*faceNum = -file->faces.Num();
}
else {
*faceNum = file->faces.Num();
}
file->faces.Append( face );
return true;
}
/*
====================
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 idSurface_Polytope;
*back = polytopeSurfaces[1] = new idSurface_Polytope;
for ( s = 0; s < 2; s++ ) {
if ( surface[s] ) {
polytopeSurfaces[s] = new idSurface_Polytope;
polytopeSurfaces[s]->SwapTriangles( *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[INTSIGNBITSET(edgeNum)];
v1 = surf->edges[abs(edgeNum)].verts[INTSIGNBITNOTSET(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[INTSIGNBITSET(edgeNum)] ) {
v1 = surf->edges[abs(edgeNum)].verts[INTSIGNBITNOTSET(edgeNum)];
idSwap( 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[INTSIGNBITNOTSET(edgeNum)];
v2 = surf->edges[abs(edgeNum)].verts[INTSIGNBITSET(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[INTSIGNBITSET(edgeNum)];
v2 = tw->model->vertices + edge->vertexNum[INTSIGNBITNOTSET(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;
}
}
}
