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-rw-r--r--src/game/physics/movement.cpp3
-rw-r--r--src/game/world/bsp.cpp2
-rw-r--r--src/game/world/bsp.h1
-rw-r--r--src/game/world/trace.cpp97
4 files changed, 74 insertions, 29 deletions
diff --git a/src/game/physics/movement.cpp b/src/game/physics/movement.cpp
index 0b174e0..9f1a7dd 100644
--- a/src/game/physics/movement.cpp
+++ b/src/game/physics/movement.cpp
@@ -223,7 +223,8 @@ VEC3 gmove_clip_planes( VEC3 vel, VEC3* pos, LIST<VEC3>* planes, F32 overbounce
if( len > 0.00001f ) {
dir *= 1.0f / len;
- vel = dir * vec_dot( vel, dir );
+ F32 d = vec_dot( vel, dir );
+ vel = dir * d;
} else {
vel = {};
}
diff --git a/src/game/world/bsp.cpp b/src/game/world/bsp.cpp
index c33cac1..4894d1c 100644
--- a/src/game/world/bsp.cpp
+++ b/src/game/world/bsp.cpp
@@ -515,6 +515,8 @@ void bsp_gen_leaf_edges( BSP* bsp, I32 leaf_idx ) {
e.face = faceidx;
e.v1 = a;
e.v2 = b;
+ e.mins = vec_mins( e.v1, e.v2 );
+ e.maxs = vec_maxs( e.v1, e.v2 );
edges->push( e );
}
}
diff --git a/src/game/world/bsp.h b/src/game/world/bsp.h
index 3b84e07..fa06696 100644
--- a/src/game/world/bsp.h
+++ b/src/game/world/bsp.h
@@ -45,6 +45,7 @@ struct BSP_EDGE {
U32 face;
VEC3 v1, v2;
+ VEC3 mins, maxs;
};
struct BSP_LEAF {
diff --git a/src/game/world/trace.cpp b/src/game/world/trace.cpp
index 25c0477..b1f91a3 100644
--- a/src/game/world/trace.cpp
+++ b/src/game/world/trace.cpp
@@ -173,7 +173,21 @@ U8 bsp_trace( BSP_TRACE* trace, BSP* bsp ) {
return bsp_trace_segment( trace, bsp, bsp->root, start, end );
}
-
+F32 hull_proj_radius( const AABB& hull, VEC3 dir ) {
+ F32 expand = aabb_support_radius( hull, dir );
+ VEC3 half = (hull.max - hull.min) * 0.5f;
+ F32 r;
+ if( dir.z < BSP_NORM_EPSILON ) {
+ r = (half.x + half.y) * 0.5f;
+ } else
+ r = half.z;
+
+ F32 hypot = r * 1.414213f;
+ F32 a = expand;
+ F32 c = sqrtf( hypot * hypot - a * a );
+
+ return c;
+}
inline U8 point_in_inflated_poly(
const VEC3& point,
@@ -187,6 +201,7 @@ inline U8 point_in_inflated_poly(
center = center + face->verts.data[i].pos;
if( c ) center = center * (1.0f / c);
+ VEC3 hullh = ( hull.max - hull.min ) * 0.5f;
for( U32 i = 0; i < c; ++i ) {
VEC3 a = face->verts.data[i].pos;
VEC3 b = face->verts.data[(i+1)%c].pos;
@@ -194,21 +209,39 @@ inline U8 point_in_inflated_poly(
VEC3 in = vec_cross( norm, e );
F32 len = vec_len( in );
if( len <= 0.0001f ) continue;
- in *= (1.0f/ len);
+ in /= len;
if( vec_dot( center - a, in ) < 0.0f )
in = in * -1.0f;
F32 dist = vec_dot( point - a, in );
- F32 expand = aabb_support_radius( hull, in );
+ F32 expand = fabsf( in.z ) > 0.001f? hullh.z : hullh.x;
if( dist < -( expand - BSP_EDGE_TOLERANCE ) )
return 0;
- // check if plane is aligned to any hull edge in x/y plane
- if( fabsf( norm.x ) >= BSP_TRACE_EPSILON && fabsf( norm.y ) >= BSP_TRACE_EPSILON ) {
- // for non-axis-aligned faces the point of contact is infinitely thin
- if( dist < BSP_EDGE_TOLERANCE )
+ U8 axis = 0;
+ // check if plane is aligned to any axis
+ for( U32 i = 0; i < 3; ++i ) {
+ if( norm[i] < BSP_NORM_EPSILON )
+ ++axis;
+ }
+
+ if( axis == 3 )
+ continue;
+
+
+ if( !axis ) { // project closest hull corner onto plane
+ VEC3 diag = in;
+ diag *= -1;
+ for( U32 i = 0; i < 3; ++i ) {
+ if( diag[i] )
+ diag[i] = copysignf( 1.0f, diag[i] );
+ }
+
+ diag *= hullh;
+ if( vec_dot( point - diag, in ) < 0.f )
return 0;
}
+
}
return 1;
}
@@ -226,7 +259,6 @@ U8 bsp_trace_sweep_aabb_to_face(
if( face->verts.size < 3 )
return 0;
-
VEC3 norm = bsp_face_get_normal( face );
F32 d = vec_dot( norm, face->verts[0].pos );
F32 radius = aabb_support_radius( hull, norm );
@@ -235,7 +267,7 @@ U8 bsp_trace_sweep_aabb_to_face(
F32 s0 = vec_dot( norm, trace->in_start ) - d;
F32 ndir = vec_dot( norm, dir );
- if( ndir >= 0 ) // dont collide with rear side
+ if( ndir > 0 ) // dont collide with rear side
return 0;
VEC3 hullv = hull.max - hull.min;
@@ -293,6 +325,8 @@ U8 bsp_trace_sweep_aabb_to_leaf_edges(
F32 best = *in_best;
BSP_TRACE besthit = *trace;
+ VEC3 hullh = ( hull.max - hull.min ) * 0.5f;
+
for( U32 i = 0; i < leaf->edges.size; ++i ) {
BSP_EDGE* e = &leaf->edges[i];
BSP_FACE* f = &bsp->faces.data[e->face];
@@ -304,39 +338,48 @@ U8 bsp_trace_sweep_aabb_to_leaf_edges(
F32 d = e->plane.dist;
F32 r = aabb_support_radius( hull, n );
- F32 s0 = vec_dot( n, start ) - d;
- F32 ndir = vec_dot( n, end - start );
+ VEC3 dir = trace->in_end - trace->in_start;
+ F32 s0 = vec_dot( n, trace->in_start ) - d;
+ F32 ndir = vec_dot( n, dir );
- if( ndir >= 0.f ) continue;
- if( s0 < -(r + BSP_TRACE_EPSILON) ) continue;
+ if( ndir > 0.f ) continue;
+ if( s0 <= -(r + BSP_TRACE_EPSILON) ) continue;
F32 t_enter = ( r - s0) / ndir;
F32 t_exit = (-r - s0) / ndir;
if( t_enter > t_exit ) { F32 tmp = t_enter; t_enter = t_exit; t_exit = tmp; }
- if( t_exit < 0.f || t_enter > 1.f )
+ if( t_exit < -BSP_TRACE_EPSILON || t_enter > 1.f + BSP_TRACE_EPSILON )
continue;
F32 t = m_clamp( t_enter, 0.f, 1.f );
- VEC3 step = start + (end - start) * t;
-
+ VEC3 step = trace->in_start + (dir) * t;
VEC3 edir = e->v2 - e->v1;
F32 elen = vec_len( edir );
if( elen < 0.001f )
continue;
- edir *= (1.f / elen);
+ edir /= elen;
F32 along = vec_dot( step - e->v1, edir );
+ F32 expand;
+ if( fabsf( edir.z ) < BSP_NORM_EPSILON )
+ expand = (edir.x > edir.y)? hullh.y : hullh.x;
+ else
+ expand = hullh.z;
+
+ if( along < -( expand + BSP_EDGE_TOLERANCE ) || ( along > elen + expand ) )
+ continue;
+
VEC3 proj = e->v1 + edir * m_clamp( along, 0.f, elen );
- F32 dist = vec_dist( proj, step );
VEC3 ec = vec_cross( edir, n );
F32 nlen = vec_len( ec );
if( nlen < 0.001f )
continue;
- ec *= (1.f / nlen);
+ ec /= nlen;
+ F32 dist = vec_dot( proj - step, ec );
- F32 expand = aabb_support_radius( hull, ec );
- if( dist - expand > r * 0.5f )
+ expand = aabb_support_radius( hull, ec );
+ if( fabsf( dist ) > expand )
continue;
if( t < best ) {
@@ -405,8 +448,7 @@ U8 bsp_trace_sweep_aabb_to_leaf(
*trace = edgehit;
else {
*trace = besthit;
- if( edgehit.normal.z > besthit.normal.z )
- trace->normal.z = edgehit.normal.z;
+ trace->normal = edgehit.normal;
}
trace->hit = 1;
return 1;
@@ -460,15 +502,14 @@ U8 bsp_trace_sweep_aabb(
tin = m_clamp( tin, 0.f, 1.f );
tout = m_clamp( tout , 0.f, 1.f );
- VEC3 mid = start + dir * tin;
I32 near = (s_dist > 0.f) ? node->front : node->back;
I32 far = (s_dist > 0.f) ? node->back : node->front;
BSP_TRACE tr_near = *trace;
BSP_TRACE tr_far = *trace;
- U8 hit_near = bsp_trace_sweep_aabb( &tr_near, bsp, hull, start, mid, near );
- U8 hit_far = bsp_trace_sweep_aabb( &tr_far , bsp, hull, mid, end, far );
+ U8 hit_near = bsp_trace_sweep_aabb( &tr_near, bsp, hull, start, end, near );
+ U8 hit_far = bsp_trace_sweep_aabb( &tr_far , bsp, hull, start, end, far );
if( hit_near && hit_far ) {
*trace = (tr_near.frac <= tr_far.frac) ? tr_near : tr_far;
@@ -480,11 +521,11 @@ U8 bsp_trace_sweep_aabb(
if( tin <= BSP_TRACE_EPSILON || tin >= 1.f - BSP_TRACE_EPSILON ) {
F32 nudge = (denom >= 0.f ? 1.f : -1.f) * BSP_TRACE_EPSILON;
- VEC3 nudged = mid + dir * nudge;
+ VEC3 nudged = start + dir * nudge;
return bsp_trace_sweep_aabb( trace, bsp, hull, nudged, end, far );
}
- return bsp_trace_sweep_aabb(trace, bsp, hull, mid, end, far );
+ return bsp_trace_sweep_aabb(trace, bsp, hull, start, end, far );
}
U8 bsp_trace( BSP_TRACE* trace, BSP* bsp, AABB hull ) {
generated by cgit v1.2.3 (git 2.26.2) at 2026-06-15 21:20:16 +0000