epfl-cvs

[julien r. <jul...@us...>]

Update of /cvsroot/epfl/tgengine-0.1
In directory sc8-pr-cvs1.sourceforge.net:/tmp/cvs-serv963

Modified Files:
	boundingbox.cc glrenderer.cc md5instance.cc md5instance.h 
	physicengine.cc physicengine.h physicnode.cc physicnode.h 
	q3bsp.cc vector3.h 
Log Message:

physic fixes


Index: physicengine.cc
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/physicengine.cc,v
retrieving revision 1.23
retrieving revision 1.24
diff -C2 -d -r1.23 -r1.24
*** physicengine.cc	13 Nov 2004 23:35:40 -0000	1.23
--- physicengine.cc	15 Nov 2004 21:35:21 -0000	1.24
***************
*** 16,20 ****
  }
  
! #define MAXBUMPS 5
  
  void PhysicEngine::StepSlideMove(PhysicNode* n, float eTime, Vector3& vVelocity, Vector3 origin)
--- 16,20 ----
  }
  
! #define MAXBUMPS 10
  
  void PhysicEngine::StepSlideMove(PhysicNode* n, float eTime, Vector3& vVelocity, Vector3 origin)
***************
*** 35,42 ****
  	{
  		trace = pLevel->CheckRayMove(origin, origin+vVelocity*time_left, n->GetBBox()->vMin, n->GetBBox()->vMax);
  
  		if (trace.AllSolid)
  		{
- 			//vVelocity.Null();
  			vVelocity.y = 0;
  			return;
--- 35,43 ----
  	{
  		trace = pLevel->CheckRayMove(origin, origin+vVelocity*time_left, n->GetBBox()->vMin, n->GetBBox()->vMax);
+ 		//on trace avec une sphere, les mouvements sembles plus 'lisses'
+ 		//trace = pLevel->CheckRayMove(origin+n->GetBBox()->vBSCenter, origin+n->GetBBox()->vBSCenter+vVelocity*time_left, TRACE_SPHERE, n->GetBBox()->fBSRadius);
  
  		if (trace.AllSolid)
  		{
  			vVelocity.y = 0;
  			return;
***************
*** 101,105 ****
  	Vector3 change = norm*backoff;
  	vel -= change;
! 	//return (vel - change);
  }
  
--- 102,160 ----
  	Vector3 change = norm*backoff;
  	vel -= change;
! }
! 
! #define BASE_HEIGHT 5
! #define STEPSIZE 20
! 
! void PhysicEngine::_TryToStep (PhysicNode* n, float eTime)
! {
! //on essaie de faire monter les petits obstacles sur les y (escaliers, rebords) au joueur. Pour cela, on test si lorsqu'on monte le joueur de STEPSIZE, il arrive à avancer plus sur les x et les z (mais _pas_ les y)
! 	////TODO: lorsqu'on monte les escaliers, ça se fait par petit saut (normal, on ajoute 10 a la position en un coup.
! 	//Il faudrait faire ça de manière à ce qu'on ait l'impression de glisser sur les escaliers
! 	Vector3 vVelocity = n->GetVelocity();
! 	Vector3 vUpVelocity = n->GetVelocity();
! 	Vector3 vPos = n->GetPosition();
! 	Vector3 vNewPos = vPos;
! 	Vector3 vUpPos = n->GetPosition() + (Vector3::UNIT_Y*STEPSIZE);
! 	Vector3 vUpNewPos = vUpPos;
! 	float distx, distz;
! 
! 	StepSlideMove (n, eTime, vVelocity, vPos);
! 	vNewPos += vVelocity*eTime;
! 	distx = (vNewPos.x - vPos.x);
! 	distx *= distx;
! 	distz = (vNewPos.z - vPos.z);
! 	distz *= distz;
! 	float dist = sqrt(distx+distz);
! 
! 	StepSlideMove (n, eTime, vUpVelocity, vUpPos);
! 	vUpNewPos += vUpVelocity*eTime;
! 	distx = (vUpNewPos.x - vUpPos.x);
! 	distx *= distx;
! 	distz = (vUpNewPos.z - vUpPos.z);
! 	distz *= distz;
! 	float updist = sqrt(distx+distz);
! 	
! 	//on verifie que ca ne nous fasse pas rentrer dans le plafond
! 	BspCollisionResult trace = pLevel->CheckRayMove(vUpPos, vNewPos, n->GetBBox()->vMin, n->GetBBox()->vMax);
! 	if (trace.AllSolid)
! 		vUpNewPos = trace.EndPoint;
! 
! 	if (updist > dist) //on passe l'obstacle
! 	{
! 		n->SetPosition(/*Vector3(vNewPos.x, vUpNewPos.y, vNewPos.z)*/vUpNewPos);
! 	}
! 	else //l'obstacle est trop haut
! 	{
! 		n->SetPosition(vNewPos);
! 	}
! 
! 	//Classification de la position
! 	BspCollisionResult col = pLevel->CheckRayMove(n->GetPosition(), n->GetPosition()+Vector3::NEGATIVE_UNIT_Y*BASE_HEIGHT, n->GetBBox()->vMin, n->GetBBox()->vMax);
! 	//si on met le allsolid, ca foire les mouvements sur les y
! 	if (col.Fraction < 1.0f || col.AllSolid)
! 		n->SetOnGround(true);
! 	else
! 		n->SetOnGround(false);
  }
  
***************
*** 112,117 ****
  //-> on différenci la taille du joueur et des autres objets pour être sur le sol
  
- #define BASE_HEIGHT 15
- #define STEPSIZE 20*1/0.01
  void PhysicEngine::Move (float eTime)
  {
--- 167,170 ----
***************
*** 157,225 ****
  		if (pLevel)
  		{
! 			//on essaie de faire monter les petits obstacles sur les y (escaliers, rebords) au joueur. Pour cela, on test si lorsqu'on monte
! 			//le joueur de STEPSIZE, il arrive à avancer plus sur les x et les z (mais _pas_ les y)
! 			////TODO: lorsqu'on monte les escaliers, ça se fait par petit saut (normal, on ajoute 10 a la position en un coup.
! 			//Il faudrait faire ça de manière à ce qu'on ait l'impression de glisser sur les escaliers
! 			Vector3 vVelocity = n->GetVelocity();
! 			Vector3 vUpVelocity = n->GetVelocity();
! 			Vector3 vPos = n->GetPosition();
! 			Vector3 vNewPos = vPos;
! 			Vector3 vUpPos = n->GetPosition() + (Vector3::UNIT_Y*STEPSIZE*eTime);
! 			Vector3 vUpNewPos = vUpPos;
! 			float distx, distz;
! 
! 			StepSlideMove (n, eTime, vVelocity, vPos);
! 			vNewPos += vVelocity*eTime;
! 			distx = (vNewPos.x - vPos.x);
! 			distx *= distx;
! 			distz = (vNewPos.z - vPos.z);
! 			distz *= distz;
! 			float dist = sqrt(distx+distz);
! 
! 			StepSlideMove (n, eTime, vUpVelocity, vUpPos);
! 			vUpNewPos += vUpVelocity*eTime;
! 			distx = (vUpNewPos.x - vUpPos.x);
! 			distx *= distx;
! 			distz = (vUpNewPos.z - vUpPos.z);
! 			distz *= distz;
! 			float updist = sqrt(distx+distz);
! 
! 			if (updist > dist) //on passe l'obstacle
! 			{
! 				//std::cout << "time : " << eTime << "\t" << vUpNewPos << std::endl;
! 				n->SetPosition(vUpNewPos);
! 				/*if (vUpVelocity != n->GetVelocity() && n->GetPhysicCallBack() != NULL)
! 				{
! 					//std::cout << "callback" << std::endl;
! 					//ce ne sont pas les memes, donc il y a eu collision -> appelle de la callback
! 					n->GetPhysicCallBack()->Collide(NULL, Vector3(0,0,0), Vector3(0,0,0));
! 				}*/
! 			}
! 			else //l'obstacle est trop haut
! 			{
! 				//std::cout << "time : " << eTime << "\t" << vNewPos << std::endl;
! 				n->SetPosition(vNewPos);
! 				/*if (vVelocity != n->GetVelocity() && n->GetPhysicCallBack() != NULL)
! 				{
! 					//std::cout << "callback" << std::endl;
! 					//ce ne sont pas les memes, donc il y a eu collision -> appelle de la callback
! 					n->GetPhysicCallBack()->Collide(NULL, Vector3(0,0,0), Vector3(0,0,0));
! 				}*/
! 			}
! 
! 			//Classification de la position
! 			BspCollisionResult col = pLevel->CheckRayMove(n->GetPosition(), n->GetPosition()+Vector3::NEGATIVE_UNIT_Y*BASE_HEIGHT,
! 													n->GetBBox()->vMin, n->GetBBox()->vMax);
! 			//si on met le allsolid, ca foire les mouvements sur les y
! 			if (col.Fraction < 1.0f || col.AllSolid)
! 				n->SetOnGround(true);
! 			else
! 				n->SetOnGround(false);
! 
  			Quaternion q = n->GetRotationVelocity()*eTime;
  			q.Normalize();
  			n->SetRotation(n->GetRotation()*q);
! 
  			n->UpdatePosition();
  		}
  	}
--- 210,221 ----
  		if (pLevel)
  		{
! 			_TryToStep(n, eTime);
! 			
  			Quaternion q = n->GetRotationVelocity()*eTime;
  			q.Normalize();
  			n->SetRotation(n->GetRotation()*q);
! 		
  			n->UpdatePosition();
+ 			
  		}
  	}
***************
*** 246,250 ****
  			continue;
  
! 		if (pNodes[i]->GetBBox()->TraceRay(Begin, End, colPoint, colNormal)) {
  			result.pNode = pNodes[i];
  			d1 = (colPoint - Begin).Magnitude();
--- 242,246 ----
  			continue;
  
! 		if (pNodes[i]->TraceRay(Begin, End, colPoint, colNormal)) {
  			result.pNode = pNodes[i];
  			d1 = (colPoint - Begin).Magnitude();

Index: physicnode.cc
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/physicnode.cc,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** physicnode.cc	12 Nov 2004 12:11:36 -0000	1.7
--- physicnode.cc	15 Nov 2004 21:35:21 -0000	1.8
***************
*** 34,37 ****
--- 34,46 ----
  	pBBox = vNodes[0]->GetBBox();
  }
+ 
+ bool PhysicNode::TraceRay(Vector3 begin, Vector3 end, Vector3& colPoint, Vector3& colNormal)
+ {
+ 	/*if (pBBox->TraceRay(begin, end, colPoint, colNormal))
+ 		return vNodes[0]->Trace(begin, end, colPoint, colNormal);
+ 	else
+ 		return false;*/
+ 	return pBBox->TraceRay(begin, end, colPoint, colNormal);
+ }
  	
  }

Index: physicengine.h
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/physicengine.h,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** physicengine.h	12 Nov 2004 12:11:36 -0000	1.6
--- physicengine.h	15 Nov 2004 21:35:21 -0000	1.7
***************
*** 51,54 ****
--- 51,56 ----
  	CollisionResult Trace(Vector3 Begin, Vector3 End, PhysicNode* edict=NULL);
   protected:
+ 	void _TryToStep (PhysicNode*, float); 
+  
  	std::vector<PhysicNode*> pNodes;
  	Q3Bsp* pLevel;

Index: physicnode.h
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/physicnode.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** physicnode.h	12 Nov 2004 12:11:36 -0000	1.5
--- physicnode.h	15 Nov 2004 21:35:21 -0000	1.6
***************
*** 27,30 ****
--- 27,32 ----
  	inline BoundingBox* GetBBox () { return pBBox; }
  	
+ 	bool TraceRay(Vector3 begin, Vector3 end, Vector3& colPoint, Vector3& colNormal);
+ 	
  	/**
  	 * Retourne un pointeur sur la classe servant de callback en cas de collision

Index: q3bsp.cc
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/q3bsp.cc,v
retrieving revision 1.12
retrieving revision 1.13
diff -C2 -d -r1.12 -r1.13
*** q3bsp.cc	13 Nov 2004 23:35:40 -0000	1.12
--- q3bsp.cc	15 Nov 2004 21:35:21 -0000	1.13
***************
*** 1236,1242 ****
  			// If the brush has sides (is a convex volume) and is SOLID then check it out!
  			
! 			/*TODO or FIXME:
! 			C'est vraiment bizarre.. Le nombre de brush SOLID est très réduit, certainement pour des questions d'optimisation... A voir s'il faut l'activer ou non ...*/
! 			if ( brush->numOfBrushSides > 0 && pContents[brush->textureID] & 1/*&& (pTextures[brush->textureID].contents & 1)*/)
  			{
  				CheckTouchBrush( brush, traceType,radius );
--- 1236,1241 ----
  			// If the brush has sides (is a convex volume) and is SOLID then check it out!
  			
! 			/*C'est vraiment bizarre.. Le nombre de brush SOLID est très réduit, certainement pour des questions d'optimisation... A voir s'il faut l'activer ou non ...*/
! 			if ( brush->numOfBrushSides > 0 && pContents[brush->textureID] & 1)
  			{
  				CheckTouchBrush( brush, traceType,radius );
***************
*** 1253,1264 ****
  	BspNode  *node  = &pNodes[nodeIndex];
  	BspPlane *plane = &pPlanes[node->plane];
! 	/*float startDistance =  plane->vNormal.x * Start.x + 
! 				     plane->vNormal.y * Start.y + 
! 				     plane->vNormal.z * Start.z - 
! 				     plane->d;
! 	float endDistance   =  plane->vNormal.x * End.x + 
! 				     plane->vNormal.y * End.y + 
! 				     plane->vNormal.z * End.z - 
! 				     plane->d;*/
  	float startDistance = plane->vNormal*Start - plane->d;
  	float endDistance = plane->vNormal*End - plane->d;
--- 1252,1256 ----
  	BspNode  *node  = &pNodes[nodeIndex];
  	BspPlane *plane = &pPlanes[node->plane];
! 	
  	float startDistance = plane->vNormal*Start - plane->d;
  	float endDistance = plane->vNormal*End - plane->d;
***************
*** 1284,1288 ****
  	{	
  		CheckMoveByNode( node->front, startFraction, endFraction, Start, End, traceType,radius );
! 		//return;
  	}
  	// If both points are in behind the plane (the negative side) pass the ray to the back 
--- 1276,1280 ----
  	{	
  		CheckMoveByNode( node->front, startFraction, endFraction, Start, End, traceType,radius );
! 		return;
  	}
  	// If both points are in behind the plane (the negative side) pass the ray to the back 
***************
*** 1292,1296 ****
  	{
  		CheckMoveByNode( node->back, startFraction, endFraction, Start, End, traceType,radius );
! 		//return;
  	}
  	
--- 1284,1288 ----
  	{
  		CheckMoveByNode( node->back, startFraction, endFraction, Start, End, traceType,radius );
! 		return;
  	}
  	
***************
*** 1310,1314 ****
  			side2 = node->front;    
  			float inverseDistance = 1.0f / (startDistance - endDistance); // optimization
! 			fraction1 = (startDistance - EPSILON - offset) * inverseDistance;	  // compute fraction for the start-middle
  			fraction2 = (startDistance + EPSILON + offset) * inverseDistance;	  // compute fraction for the middle-end
  		}
--- 1302,1306 ----
  			side2 = node->front;    
  			float inverseDistance = 1.0f / (startDistance - endDistance); // optimization
! 			fraction1 = (startDistance + EPSILON - offset) * inverseDistance;	  // compute fraction for the start-middle
  			fraction2 = (startDistance + EPSILON + offset) * inverseDistance;	  // compute fraction for the middle-end
  		}

Index: md5instance.h
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/md5instance.h,v
retrieving revision 1.7
retrieving revision 1.8
diff -C2 -d -r1.7 -r1.8
*** md5instance.h	12 Nov 2004 12:11:36 -0000	1.7
--- md5instance.h	15 Nov 2004 21:35:21 -0000	1.8
***************
*** 44,49 ****
  	
  	
! 	//bool Trace (Vector3 Begin, Vector3 End, Vector3& colPoint, Vector3& colNormal);
! 	//bool TriangleTrace(const Vector3& Begin, const Vector3& End, Vector3& colPoint, Vector3& colNormal);
  	
  	
--- 44,49 ----
  	
  	
! 	/*bool Trace (Vector3 Begin, Vector3 End, Vector3& colPoint, Vector3& colNormal);
! 	bool TriangleTrace(Vector3 Begin, Vector3 End, Vector3& colPoint, Vector3& colNormal);*/
  	
  	

Index: glrenderer.cc
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/glrenderer.cc,v
retrieving revision 1.19
retrieving revision 1.20
diff -C2 -d -r1.19 -r1.20
*** glrenderer.cc	13 Nov 2004 23:35:39 -0000	1.19
--- glrenderer.cc	15 Nov 2004 21:35:21 -0000	1.20
***************
*** 1997,2003 ****
  	}
  	glEnd ();
  
  	//BSphere
! 	glPushMatrix();
  	Vector3 vb = b->vWorldOrigin + b->vBSCenter;
  	glTranslatef(vb.x, vb.y, vb.z);
--- 1997,2004 ----
  	}
  	glEnd ();
+ 	
  
  	//BSphere
! 	/*glPushMatrix();
  	Vector3 vb = b->vWorldOrigin + b->vBSCenter;
  	glTranslatef(vb.x, vb.y, vb.z);
***************
*** 2005,2014 ****
  	gluSphere(pQ, b->fBSRadius, 10, 10);
  	gluDeleteQuadric(pQ);
! 	glPopMatrix();
  	
  	if (!bWireFrame)
  		glPolygonMode (GL_FRONT_AND_BACK, GL_FILL);
  	glEnable(GL_CULL_FACE);
! 	//RenderBSphere (b->vWorldBSCenter, b->fBSRadius);
  }
  
--- 2006,2031 ----
  	gluSphere(pQ, b->fBSRadius, 10, 10);
  	gluDeleteQuadric(pQ);
! 	glPopMatrix();*/
  	
  	if (!bWireFrame)
  		glPolygonMode (GL_FRONT_AND_BACK, GL_FILL);
  	glEnable(GL_CULL_FACE);
! 	
! 	glColor3f(0,1,0);
! 	glLineWidth(3.0f);
! 	glBegin (GL_LINES);
! 	for (int i=0; i<6; i++)
! 	{
! 		Vector3 norm = b->pPlanes[i].vNormal;
! 		Vector3 v1 = b->pPlanes[i].v[0]+b->pPlanes[i].v[1]+b->pPlanes[i].v[2];
! 		v1 /= 3;
! 		Vector3 v2 = v1+norm*10;
! 		glVertex3fv (&v1.x);
! 		glVertex3fv (&v2.x);
! 	}
! 	glEnd ();
! 	glLineWidth(1.0f);
! 	
! 	glColor3f(1,1,1);
  }
  

Index: vector3.h
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/vector3.h,v
retrieving revision 1.5
retrieving revision 1.6
diff -C2 -d -r1.5 -r1.6
*** vector3.h	13 Nov 2004 23:35:40 -0000	1.5
--- vector3.h	15 Nov 2004 21:35:21 -0000	1.6
***************
*** 42,46 ****
  	}
  	
! 	inline float& operator [] (int n) {  switch (n) { case 0: return x; case 1: return y; case 2: return z;}}
  
  	inline bool operator != (const Vector3& v) { return (v.x==x&&v.y==y&&v.z==z); }
--- 42,46 ----
  	}
  	
! 	inline float& operator [] (int n) {  switch (n) { case 0: return x; case 1: return y; case 2: return z; default: return x;}}
  
  	inline bool operator != (const Vector3& v) { return (v.x==x&&v.y==y&&v.z==z); }

Index: md5instance.cc
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/md5instance.cc,v
retrieving revision 1.11
retrieving revision 1.12
diff -C2 -d -r1.11 -r1.12
*** md5instance.cc	12 Nov 2004 12:11:36 -0000	1.11
--- md5instance.cc	15 Nov 2004 21:35:21 -0000	1.12
***************
*** 293,301 ****
  	}
  	return b;*/
! 	if (/*pBBox->TraceRay(Begin, End, colPoint))*/pBBox->TraceSphereRay(Begin, End, colPoint))
! 		return TriangleTrace(Begin, End, colPoint, colNormal);
! 	else
! 		return false;
! 	//return pBBox->TraceSphereRay(Begin, End, colPoint);
  }
      
--- 293,297 ----
  	}
  	return b;*/
! 	return TriangleTrace(Begin, End, colPoint, colNormal);
  }
      
***************
*** 318,327 ****
  }
  
! bool MD5Instance::TriangleTrace(const Vector3& Begin, const Vector3& End, Vector3& colPoint, Vector3& colNormal)
  {
  	Plane p;
  	colPoint.x = colPoint.y = colPoint.z = TG_INFINITY;
  	Vector3 cP;
  	float d1, d2;
  
  /* next variables are unused
--- 314,326 ----
  }
  
! bool MD5Instance::TriangleTrace(Vector3 Begin, Vector3 End, Vector3& colPoint, Vector3& colNormal)
  {
+ 	Quaternion q(-90, Vector3(1,0,0));
  	Plane p;
+ 	Vector3 cPBack = colPoint;
  	colPoint.x = colPoint.y = colPoint.z = TG_INFINITY;
  	Vector3 cP;
  	float d1, d2;
+ 	bool bCollide = false;
  
  /* next variables are unused
***************
*** 339,342 ****
--- 338,344 ----
  			points[1] = pVerticesListTab[j][f->pIndex[1]].vPosition+vPosition;
  			points[2] = pVerticesListTab[j][f->pIndex[2]].vPosition+vPosition;
+ 			points[0] = q.Rotate(points[0]);
+ 			points[1] = q.Rotate(points[1]);
+ 			points[2] = q.Rotate(points[2]);
  			p.SetFromPoints(points[0], points[1], points[2]);
  			
***************
*** 351,354 ****
--- 353,357 ----
  						colPoint = cP;
  						colNormal = p.GetNormal();
+ 						bCollide = true;
  					}
  				}
***************
*** 369,373 ****
  		}
  	}
! 	return true;
  }
  #endif
--- 372,378 ----
  		}
  	}
! 	if (!bCollide)
! 		colPoint = cPBack;
! 	return bCollide;
  }
  #endif

Index: boundingbox.cc
===================================================================
RCS file: /cvsroot/epfl/tgengine-0.1/boundingbox.cc,v
retrieving revision 1.6
retrieving revision 1.7
diff -C2 -d -r1.6 -r1.7
*** boundingbox.cc	12 Nov 2004 12:11:36 -0000	1.6
--- boundingbox.cc	15 Nov 2004 21:35:21 -0000	1.7
***************
*** 137,144 ****
  }
  
  
  bool BoundingBox::TraceRay (Vector3 begin, Vector3 end, Vector3& colPoint, Vector3& colNormal)
  {
! 	return TraceSphereRay(begin, end, colPoint);
  	/*int iB, iE;
  	Vector3 cP;
--- 137,189 ----
  }
  
+ bool Clip (float fDenom, float fNumer, float& rfT0,
+     float& rfT1)
+ {
+     // Return value is 'true' if line segment intersects the current test
+     // plane.  Otherwise 'false' is returned in which case the line segment
+     // is entirely clipped.
+ 
+     if ( fDenom > 0.0 )
+     {
+         if ( fNumer > fDenom*rfT1 )
+             return false;
+         if ( fNumer > fDenom*rfT0 )
+             rfT0 = fNumer/fDenom;
+         return true;
+     }
+     else if ( fDenom < 0.0 )
+     {
+         if ( fNumer > fDenom*rfT0 )
+             return false;
+         if ( fNumer > fDenom*rfT1 )
+             rfT1 = fNumer/fDenom;
+         return true;
+     }
+     else
+     {
+         return fNumer <= 0.0;
+     }
+ }
+ //----------------------------------------------------------------------------
+ bool MgcFindIntersection (const Vector3& rkOrigin,
+     const Vector3& rkDirection, const float afExtent[3], float& rfT0,
+     float& rfT1)
+ {
+     float fSaveT0 = rfT0, fSaveT1 = rfT1;
+ 
+     bool bNotEntirelyClipped =
+         Clip(+rkDirection.x,-rkOrigin.x-afExtent[0],rfT0,rfT1) &&
+         Clip(-rkDirection.x,+rkOrigin.x-afExtent[0],rfT0,rfT1) &&
+         Clip(+rkDirection.y,-rkOrigin.y-afExtent[1],rfT0,rfT1) &&
+         Clip(-rkDirection.y,+rkOrigin.y-afExtent[1],rfT0,rfT1) &&
+         Clip(+rkDirection.z,-rkOrigin.z-afExtent[2],rfT0,rfT1) &&
+         Clip(-rkDirection.z,+rkOrigin.z-afExtent[2],rfT0,rfT1);
+ 
+     return bNotEntirelyClipped && ( rfT0 != fSaveT0 || rfT1 != fSaveT1 );
+ }
  
  bool BoundingBox::TraceRay (Vector3 begin, Vector3 end, Vector3& colPoint, Vector3& colNormal)
  {
! 	//return TraceSphereRay(begin, end, colPoint);
  	/*int iB, iE;
  	Vector3 cP;
***************
*** 149,153 ****
  		if ((iB == iE) && (iB == POINT_IN_FRONT_OF_PLANE))
  			return false;
! 		else if (iB == iE)
  			continue;
  		if (pPlanes[i].IntersectRay(begin, end, cP))
--- 194,198 ----
  		if ((iB == iE) && (iB == POINT_IN_FRONT_OF_PLANE))
  			return false;
! 		if (iB == iE)
  			continue;
  		if (pPlanes[i].IntersectRay(begin, end, cP))
***************
*** 156,159 ****
--- 201,267 ----
  	}
  	return true;*/
+ 	Vector3 kOrigin = begin - vWorldOrigin;
+ 	Vector3 kDirection = end - begin;
+ 	
+ 	float fT0 = 0.0, fT1 = 1.0;
+ 	int riQuantity;
+ 	Vector3 akPoint[2];
+ 	float extents[3];
+ 	extents[0] = (vMax.x-vMin.x);
+ 	extents[1] = (vMax.y-vMin.y);
+ 	extents[2] = (vMax.z-vMin.z);
+ 	bool bIntersects = MgcFindIntersection(kOrigin,kDirection,extents,
+ 		fT0,fT1);
+ 	
+ 	if ( bIntersects )
+ 	{
+ 		if ( fT0 > 0.0 )
+ 		{
+ 			if ( fT1 < 1.0 )
+ 			{
+ 				riQuantity = 2;
+ 				akPoint[0] = kOrigin + fT0*kDirection;
+ 				akPoint[1] = kOrigin + fT1*kDirection;
+ 			}
+ 			else
+ 			{
+ 				riQuantity = 1;
+ 				akPoint[0] = kOrigin + fT0*kDirection;
+ 			}
+ 		}
+ 		else  // fT0 == 0.0
+ 		{
+ 			if ( fT1 < 1.0 )
+ 			{
+ 				riQuantity = 1;
+ 				akPoint[0] = kOrigin + fT1*kDirection;
+ 			}
+ 			else  // fT1 == 1.0
+ 			{
+ 				// segment entirely in box
+ 				riQuantity = 0;
+ 			}
+ 		}
+ 	}
+ 	else
+ 	{
+ 		riQuantity = 0;
+ 	}
+ 	
+ 	if (riQuantity == 2)
+ 	{
+ 		float dist1 = (kOrigin - akPoint[0]).Magnitude();
+ 		float dist2 = (kOrigin - akPoint[1]).Magnitude();
+ 		
+ 		if (dist1 > dist2)
+ 			colPoint = akPoint[1];
+ 		else
+ 			colPoint = akPoint[0];
+ 	}
+ 	else if (riQuantity == 1)
+ 		colPoint = akPoint[0];
+ 	colPoint += vWorldOrigin;
+ 	//std::cout << colPoint << std::endl;
+ 	return bIntersects;
  }