summaryrefslogblamecommitdiffstats
path: root/src/entities/Physical.cpp
blob: 9cd3607047074884fb216138c81b2ab375e4692d (plain) (tree)
1
2
3
4
5
6
7
8
9
10
11
12
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
538
539
540
541
542
543
544
545
546
547
548
549
550
551
552
553
554
555
556
557
558
559
560
561
562
563
564
565
566
567
568
569
570
571
572
573
574
575
576
577
578
579
580
581
582
583
584
585
586
587
588
589
590
591
592
593
594
595
596
597
598
599
600
601
602
603
604
605
606
607
608
609
610
611
612
613
614
615
616
617
618
619
620
621
622
623
624
625
626
627
628
629
630
631
632
633
634
635
636
637
638
639
640
641
642
643
644
645
646
647
648
649
650
651
652
653
654
655
656
657
658
659
660
661
662
663
664
665
666
667
668
669
670
671
672
673
674
675
676
677
678
679
680
681
682
683
684
685
686
687
688
689
690
691
692
693
694
695
696
697
698
699
700
701
702
703
704
705
706
707
708
709
710
711
712
713
714
715
716
717
718
719
720
721
722
723
724
725
726
727
728
729
730
731
732
733
734
735
736
737
738
739
740
741
742
743
744
745
746
747
748
749
750
751
752
753
754
755
756
757
758
759
760
761
762
763
764
765
766
767
768
769
770
771
772
773
774
775
776
777
778
779
780
781
782
783
784
785
786
787
788
789
790
791
792
793
794
795
796
797
798
799
800
801
802
803
804
805
806
807
808
809
810
811
812
813
814
815
816
817
818
819
820
821
822
823
824
825
826
827
828
829
830
831
832
833
834
835
836
837
838
839
840
841
842
843
844
845
846
847
848
849
850
851
852
853
854
855
856
857
858
859
860
861
862
863
864
865
866
867
868
869
870
871
872
873
874
875
876
877
878
879
880
881
882
883
884
885
886
887
888
889
890
891
892
893
894
895
896
897
898
899
900
901
902
903
904
905
906
907
908
909
910
911
912
913
914
915
916
917
918
919
920
921
922
923
924
925
926
927
928
929
930
1254
1255
1256
1257
1258
1259
1260
1261
1262
1263
1264
1265
1266
1267
1268
1269
1270
1271
1272
1273
1274
1275
1276
1277
1278
1279
1280
1281
1282
1283
1284
1285
1286
1287
1288
1289
1290
1291
1292
1293
1294
1295
1296
1297
1298
1299
1300
1301
1302
1303
1304
1305
1306
1307
1308
1309
1310
1311
1312
1313
1314
1315
1316
1317
1318
1319
1320
1321
1322
1323
1324
1325
1326
1327
1328
1329
1330
1331
1332
1333
1334
1335
1336
1337
1338
1339
1340
1341
1342
1343
1344
1345
1346
1347
1348
1349
1350
1351
1352
1353
1354
1355
1356
1357
1358
1359
1360
1361
1362
1363
1364
1365
1366
1367
1368
1369
1370
1371
1372
1373
1374
1375
1376
1377
1378
1379
1380
1381
1382
1383
1384
1385
1386
1387
1388
1389
1390
1391
1392
1393
1394
1395
1396
1397
1398
1399
1400
1401
1402
1403
1404
1405
1406
1407
1408
1409
1410
1411
1412
1413
1414
1415
1416
1417
1418
1419
1420
1421
1422
1423
1424
1425
1426
1427
1428
1429
1430
1431
1432
1433
1434
1435
1436
1437
1438
1439
1440
1441
1442
1443
1444
1445
1446
1447
1448
1449
1450
1451
1452
1453
1454
1455
1456
1457
1458
1459
1460
1461
1462
1463
1464
1465
1466
1467
1468
1469
1470
1471
1472
1473
1474
1475
1476
1477
1478
1479
1480
1481
1482
1483
1484
1485
1486
1487
1488
1489
1490
1491
1492
1493
1494
1495
1496
1497
1498
1499
1500
1501
1502
1503
1504
1505
1506
1507
1508
1509
1510
1511
1512
1513
1514
1515
1516
1517
1518
1519
1520
1521
1522
1523
1524
1525
1526
1527
1528
1529
1530
1531
1532
1533
1534
1535
1536
1537
1538
1539
1540
1541
1542
1543
1544
1545
1546
1547
1548
1549
1550
1551
1552
1553
1554
1555
1556
1557
1558
1559
1560
1561
1562
1563
1564
1565
1566
1567
1568
1569
1570
1571
1572
1573
1574
1575
1576
1577
1578
1579
1580
1581
1582
1583
1584
1585
1586
1587
1588
1589
1590
1591
1592
1593
1594
1595
1596
1597
1598
1599
1600
1601
1602
1603
1604
1605
1606
1607
1608
1609
1610
1611
1612
1613
1614
1615
1616
1617
1618
1619
1620
1621
1622
1623
1624
1625
1626
1627
1628
1629
1630
1631
1632
1633
1634
1635
1636
1637
1638
1639
1640
1641
1642
1643
1644
1645
1646
1647
1648
1649
1650
1651
1652
1653
1654
1655
1656
1657
1658
1659
1660
1661
1662
1663
1664
1665
1666
1667
1668
1669
1670
1671
1672
1673
1674
1675
1676
1677
1678
1679
1680
1681
1682
1683
1684
1685
1686
1687
1688
1689
1690
1691
1692
1693
1694
1695
1696
1697
1698
1699
1700
1701
1702
1703
1704
1705
1706
1707
1708
1709
1710
1711
1712
1713
1714
1715
1716
1717
1718
1719
1720
1721
1722
1723
1724
1725
1726
1727
1728
1729
1730
1731
1732
1733
1734
1735
1736
1737
1738
1739
1740
1741
1742
1743
1744
1745
1746
1747
1748
1749
1750
1751
1752
1753
1754
1755
1756
1757
1758
1759
1760
1761
1762
1763
1764
1765
1766
1767
1768
1769
1770
1771
1772
1773
1774
1775
1776
1777
1778
1779
1780
1781
1782
1783
1784
1785
1786
1787
1788
1789
1790
1791
1792
1793
1794
1795
1796
1797
1798
1799
1800
1801
1802
1803
1804
1805
1806
1807
1808
1809
1810
1811
1812
1813
1814
1815
1816
1817
1818
1819
1820
1821
1822
1823











                           

                    
                       













                                                                            


                                                                            





























































                                                                                


                                                                            














































































                                                                                         


                                                                                           




                                                    

























































































                                                                                                 
                                   









                                     


                                


























                                                                                      









































































                                                                                                        

                                      
















































                                                                                                                         
                                                      











                                                                                                        
                                                      



























































































































































































































































































































































































































































































                                                                                                                                                             
























































                                                                                                    
                                 




                                                                          


                                                                               





                                                                                                                                          
                                                                             






                                                                          


                                                                               



                                                                                                                                          
                                                                                         
                                                                 




                                                                              

                                                                                    
































































                                                                                                                         

                                                                
 








                                        
 
                             
 

                                     
 






















                                                                                         

                 









                                                                                    
                                                          

                                                                                                                  

                                                                                                                  



                                                                                                     
                                                                                                                                                   











                                                                                    
                                                          

                                                                                                                  

                                                                                                                  



                                                                                                     
                                                                                                                                                   






















                                                                                                                             
                                                          

                                                                                                                  

                                                                                                                  



                                                                                                     
                                                                                                                                                   
















                                                                                                                             
                                                          

                                                                                                                  

                                                                                                                  



                                                                                                     
                                                                                                                                                   














                                                                                                                             

 

























































































































































































































































































































































































































































































































































































                                                                                                                                                                           
                         







                                                                    
                            







                                                                                        
 




                                                                      

                                                                        
                                                                              

                                                                           


                                                                                   
                                                                         
 















                                                                                                                        


                                                                                           


                                                                                 
          
#include "common.h"
#include "patcher.h"
#include "World.h"
#include "Timer.h"
#include "ModelIndices.h"
#include "Vehicle.h"
#include "Ped.h"
#include "Object.h"
#include "Glass.h"
#include "ParticleObject.h"
#include "Particle.h"
#include "SurfaceTable.h"
#include "CarCtrl.h"
#include "DMAudio.h"
#include "Automobile.h"
#include "Physical.h"

void
CPhysical::Add(void)
{
	int x, xstart, xmid, xend;
	int y, ystart, ymid, yend;
	CSector *s;
	CPtrList *list;

	CRect bounds = GetBoundRect();
	xstart = CWorld::GetSectorIndexX(bounds.left);
	xend   = CWorld::GetSectorIndexX(bounds.right);
	xmid   = CWorld::GetSectorIndexX((bounds.left + bounds.right)/2.0f);
	ystart = CWorld::GetSectorIndexY(bounds.top);
	yend   = CWorld::GetSectorIndexY(bounds.bottom);
	ymid   = CWorld::GetSectorIndexY((bounds.top + bounds.bottom)/2.0f);
	assert(xstart >= 0);
	assert(xend < NUMSECTORS_X);
	assert(ystart >= 0);
	assert(yend < NUMSECTORS_Y);

	for(y = ystart; y <= yend; y++)
		for(x = xstart; x <= xend; x++){
			s = CWorld::GetSector(x, y);
			if(x == xmid && y == ymid) switch(m_type){
			case ENTITY_TYPE_VEHICLE:
				list = &s->m_lists[ENTITYLIST_VEHICLES];
				break;
			case ENTITY_TYPE_PED:
				list = &s->m_lists[ENTITYLIST_PEDS];
				break;
			case ENTITY_TYPE_OBJECT:
				list = &s->m_lists[ENTITYLIST_OBJECTS];
				break;
			default:
				assert(0);
			}else switch(m_type){
			case ENTITY_TYPE_VEHICLE:
				list = &s->m_lists[ENTITYLIST_VEHICLES_OVERLAP];
				break;
			case ENTITY_TYPE_PED:
				list = &s->m_lists[ENTITYLIST_PEDS_OVERLAP];
				break;
			case ENTITY_TYPE_OBJECT:
				list = &s->m_lists[ENTITYLIST_OBJECTS_OVERLAP];
				break;
			default:
				assert(0);
			}
			CPtrNode *node = list->InsertItem(this);
			assert(node);
			m_entryInfoList.InsertItem(list, node, s);
		}
}

void
CPhysical::Remove(void)
{
	CEntryInfoNode *node, *next;
	for(node = m_entryInfoList.first; node; node = next){
		next = node->next;
		node->list->DeleteNode(node->listnode);
		m_entryInfoList.DeleteNode(node);
	}
}

void
CPhysical::RemoveAndAdd(void)
{
	int x, xstart, xmid, xend;
	int y, ystart, ymid, yend;
	CSector *s;
	CPtrList *list;

	CRect bounds = GetBoundRect();
	xstart = CWorld::GetSectorIndexX(bounds.left);
	xend   = CWorld::GetSectorIndexX(bounds.right);
	xmid   = CWorld::GetSectorIndexX((bounds.left + bounds.right)/2.0f);
	ystart = CWorld::GetSectorIndexY(bounds.top);
	yend   = CWorld::GetSectorIndexY(bounds.bottom);
	ymid   = CWorld::GetSectorIndexY((bounds.top + bounds.bottom)/2.0f);
	assert(xstart >= 0);
	assert(xend < NUMSECTORS_X);
	assert(ystart >= 0);
	assert(yend < NUMSECTORS_Y);

	// we'll try to recycle nodes from here
	CEntryInfoNode *next = m_entryInfoList.first;

	for(y = ystart; y <= yend; y++)
		for(x = xstart; x <= xend; x++){
			s = CWorld::GetSector(x, y);
			if(x == xmid && y == ymid) switch(m_type){
			case ENTITY_TYPE_VEHICLE:
				list = &s->m_lists[ENTITYLIST_VEHICLES];
				break;
			case ENTITY_TYPE_PED:
				list = &s->m_lists[ENTITYLIST_PEDS];
				break;
			case ENTITY_TYPE_OBJECT:
				list = &s->m_lists[ENTITYLIST_OBJECTS];
				break;
			}else switch(m_type){
			case ENTITY_TYPE_VEHICLE:
				list = &s->m_lists[ENTITYLIST_VEHICLES_OVERLAP];
				break;
			case ENTITY_TYPE_PED:
				list = &s->m_lists[ENTITYLIST_PEDS_OVERLAP];
				break;
			case ENTITY_TYPE_OBJECT:
				list = &s->m_lists[ENTITYLIST_OBJECTS_OVERLAP];
				break;
			}
			if(next){
				// If we still have old nodes, use them
				next->list->RemoveNode(next->listnode);
				list->InsertNode(next->listnode);
				next->list = list;
				next->sector = s;
				next = next->next;
			}else{
				CPtrNode *node = list->InsertItem(this);
				m_entryInfoList.InsertItem(list, node, s);
			}
		}

	// Remove old nodes we no longer need
	CEntryInfoNode *node;
	for(node = next; node; node = next){
		next = node->next;
		node->list->DeleteNode(node->listnode);
		m_entryInfoList.DeleteNode(node);
	}
}

CRect
CPhysical::GetBoundRect(void)
{
	CVector center;
	float radius;
	GetBoundCentre(center);
	radius = GetBoundRadius();
	return CRect(center.x-radius, center.y-radius, center.x+radius, center.y+radius);
}

void
CPhysical::AddToMovingList(void)
{
	m_movingListNode = CWorld::GetMovingEntityList().InsertItem(this);
}

void
CPhysical::RemoveFromMovingList(void)
{
	if(m_movingListNode){
		CWorld::GetMovingEntityList().DeleteNode(m_movingListNode);
		m_movingListNode = nil;
	}
}

void
CPhysical::SetDamagedPieceRecord(uint16 piece, float impulse, CEntity *entity, CVector dir)
{
	m_nDamagePieceType = piece;
	m_fDamageImpulse = impulse;
	m_pDamageEntity = entity;
	entity->RegisterReference(&m_pDamageEntity);
	m_vecDamageNormal = dir;
}

void
CPhysical::AddCollisionRecord(CEntity *ent)
{
	AddCollisionRecord_Treadable(ent);
	this->bHasCollided = true;
	ent->bHasCollided = true;
	if(IsVehicle() && ent->IsVehicle()){
		if(((CVehicle*)this)->m_nAlarmState == -1)
			((CVehicle*)this)->m_nAlarmState = 15000;
		if(((CVehicle*)ent)->m_nAlarmState == -1)
			((CVehicle*)ent)->m_nAlarmState = 15000;
	}
	if(bUseCollisionRecords){
		int i;
		for(i = 0; i < m_nCollisionRecords; i++)
			if(m_aCollisionRecords[i] == ent)
				return;
		if(m_nCollisionRecords < PHYSICAL_MAX_COLLISIONRECORDS)
			m_aCollisionRecords[m_nCollisionRecords++] = ent;
		m_nLastTimeCollided = CTimer::GetTimeInMilliseconds();
	}
}

void
CPhysical::AddCollisionRecord_Treadable(CEntity *ent)
{
	if(ent->IsBuilding() && ((CBuilding*)ent)->GetIsATreadable()){
		CTreadable *t = (CTreadable*)ent;
		if(t->m_nodeIndicesPeds[0] >= 0 ||
		   t->m_nodeIndicesPeds[1] >= 0 ||
		   t->m_nodeIndicesPeds[2] >= 0 ||
		   t->m_nodeIndicesPeds[3] >= 0)
			m_pedTreadable = t;
		if(t->m_nodeIndicesCars[0] >= 0 ||
		   t->m_nodeIndicesCars[1] >= 0 ||
		   t->m_nodeIndicesCars[2] >= 0 ||
		   t->m_nodeIndicesCars[3] >= 0)
			m_carTreadable = t;
	}
}

bool
CPhysical::GetHasCollidedWith(CEntity *ent)
{
	int i;
	if(bUseCollisionRecords)
		for(i = 0; i < m_nCollisionRecords; i++)
			if(m_aCollisionRecords[i] == ent)
				return true;
	return false;
}

void
CPhysical::RemoveRefsToEntity(CEntity *ent)
{
	int i, j;

	for(i = 0; i < m_nCollisionRecords; i++){
		if(m_aCollisionRecords[i] == ent){
			for(j = i; j < m_nCollisionRecords-1; j++)
				m_aCollisionRecords[j] = m_aCollisionRecords[j+1];
			m_nCollisionRecords--;
		}
	}
}

int32
CPhysical::ProcessEntityCollision(CEntity *ent, CColPoint *colpoints)
{
	int32 numSpheres = CCollision::ProcessColModels(
		GetMatrix(), *CModelInfo::GetModelInfo(GetModelIndex())->GetColModel(),
		ent->GetMatrix(), *CModelInfo::GetModelInfo(ent->GetModelIndex())->GetColModel(),
		colpoints,
		nil, nil);	// No Lines allowed!
	if(numSpheres > 0){
		AddCollisionRecord(ent);
		if(!ent->IsBuilding())	// Can't this catch dummies too?
			((CPhysical*)ent)->AddCollisionRecord(this);
		if(ent->IsBuilding() || ent->bIsStatic)
			this->bHasHitWall = true;
	}
	return numSpheres;
}

void
CPhysical::ProcessControl(void)
{
	if(!IsPed())
		bIsInWater = false;
	bHasContacted = false;
	bIsInSafePosition = false;
	bWasPostponed = false;
	bHasHitWall = false;

	if(m_status == STATUS_SIMPLE)
		return;

	m_nCollisionRecords = 0;
	bHasCollided = false;
	m_nDamagePieceType = 0;
	m_fDamageImpulse = 0.0f;
	m_pDamageEntity = nil;

	if(!bIsStuck){
		if(IsObject() ||
		   IsPed() && !bPedPhysics){
			m_vecMoveSpeedAvg = (m_vecMoveSpeedAvg + m_vecMoveSpeed)/2.0f;
			m_vecTurnSpeedAvg = (m_vecTurnSpeedAvg + m_vecTurnSpeed)/2.0f;
			float step = CTimer::GetTimeStep() * 0.003;
			if(m_vecMoveSpeedAvg.MagnitudeSqr() < step*step &&
			   m_vecTurnSpeedAvg.MagnitudeSqr() < step*step){
				m_nStaticFrames++;
				if(m_nStaticFrames > 10){
					m_nStaticFrames = 10;
					bIsStatic = true;
					m_vecMoveSpeed = CVector(0.0f, 0.0f, 0.0f);
					m_vecTurnSpeed = CVector(0.0f, 0.0f, 0.0f);
					m_vecMoveFriction = m_vecMoveSpeed;
					m_vecTurnFriction = m_vecTurnSpeed;
					return;
				}
			}else 
				m_nStaticFrames = 0;
		}
	}
	ApplyGravity();
	ApplyFriction();
	ApplyAirResistance();
}

/*
 * Some quantities (german in parens):
 *
 * acceleration: distance/time^2: a
 * velocity: distance/time: v	(GTA: speed)
 * momentum (impuls): velocity*mass: p
 * impulse (kraftstoss): delta momentum, force*time: J
 *
 * angular equivalents:
 * velocity -> angular velocity	(GTA: turn speed)
 * momentum -> angular momentum (drehimpuls): L = r cross p
 * force -> torque (drehmoment): tau = r cross F
 * mass -> moment of inertia, angular mass (drehmoment, drehmasse): I = L/omega	(GTA: turn mass)
 */

CVector
CPhysical::GetSpeed(const CVector &r)
{
	return m_vecMoveSpeed + m_vecMoveFriction + CrossProduct(m_vecTurnFriction + m_vecTurnSpeed, r);
}

void
CPhysical::ApplyMoveSpeed(void)
{
	GetPosition() += m_vecMoveSpeed * CTimer::GetTimeStep();
}

void
CPhysical::ApplyTurnSpeed(void)
{
	// Move the coordinate axes by their speed
	// Note that this denormalizes the matrix
	CVector turnvec = m_vecTurnSpeed*CTimer::GetTimeStep();
	GetRight() += CrossProduct(turnvec, GetRight());
	GetForward() += CrossProduct(turnvec, GetForward());
	GetUp() += CrossProduct(turnvec, GetUp());
}

void
CPhysical::ApplyMoveForce(float jx, float jy, float jz)
{
	m_vecMoveSpeed += CVector(jx, jy, jz)*(1.0f/m_fMass);
}

void
CPhysical::ApplyTurnForce(float jx, float jy, float jz, float px, float py, float pz)
{
	CVector com = Multiply3x3(m_matrix, m_vecCentreOfMass);
	CVector turnimpulse = CrossProduct(CVector(px, py, pz)-com, CVector(jx, jy, jz));
	m_vecTurnSpeed += turnimpulse*(1.0f/m_fTurnMass);
}

void
CPhysical::ApplyFrictionMoveForce(float jx, float jy, float jz)
{
	m_vecMoveFriction += CVector(jx, jy, jz)*(1.0f/m_fMass);
}

void
CPhysical::ApplyFrictionTurnForce(float jx, float jy, float jz, float px, float py, float pz)
{
	CVector com = Multiply3x3(m_matrix, m_vecCentreOfMass);
	CVector turnimpulse = CrossProduct(CVector(px, py, pz)-com, CVector(jx, jy, jz));
	m_vecTurnFriction += turnimpulse*(1.0f/m_fTurnMass);
}

void
CPhysical::ApplySpringCollision(float f1, CVector &v, CVector &p, float f2, float f3)
{
	if(1.0f - f2 <= 0.0f)
		return;
	float step = min(CTimer::GetTimeStep(), 3.0f);
	float strength = -0.008f*m_fMass*2.0f*step * f1 * (1.0f-f2) * f3;
	ApplyMoveForce(v*strength);
	ApplyTurnForce(v*strength, p);
}

void
CPhysical::ApplyGravity(void)
{
	if(bAffectedByGravity)
		m_vecMoveSpeed.z -= 0.008f * CTimer::GetTimeStep();
}

void
CPhysical::ApplyFriction(void)
{
	m_vecMoveSpeed += m_vecMoveFriction;
	m_vecTurnSpeed += m_vecTurnFriction;
	m_vecMoveFriction = CVector(0.0f, 0.0f, 0.0f);
	m_vecTurnFriction = CVector(0.0f, 0.0f, 0.0f);
}

void
CPhysical::ApplyAirResistance(void)
{
	if(m_fAirResistance > 0.1f){
		float f = powf(m_fAirResistance, CTimer::GetTimeStep());
		m_vecMoveSpeed *= f;
		m_vecTurnSpeed *= f;
	}else{
		float f = powf(1.0f/(m_fAirResistance*0.5f*m_vecMoveSpeed.MagnitudeSqr() + 1.0f), CTimer::GetTimeStep());
		m_vecMoveSpeed *= f;
		m_vecTurnSpeed *= 0.99f;
	}
}


bool
CPhysical::ApplyCollision(CPhysical *B, CColPoint &colpoint, float &impulseA, float &impulseB)
{
	float eA, eB;
	CPhysical *A = this;
	CObject *Bobj = (CObject*)B;

	bool ispedcontactA = false;
	bool ispedcontactB = false;

	float timestepA;
	if(B->bPedPhysics){
		timestepA = 10.0f;
		if(B->IsPed() && ((CPed*)B)->m_pCurrentPhysSurface == A)
			ispedcontactA = true;
	}else
		timestepA = A->bIsHeavy ? 2.0f : 1.0f;

	float timestepB;
	if(A->bPedPhysics){
		if(A->IsPed() && ((CPed*)A)->IsPlayer() && B->IsVehicle() &&
		   (B->m_status == STATUS_ABANDONED || B->m_status == STATUS_WRECKED || A->bHasHitWall))
			timestepB = 2200.0f / B->m_fMass;
		else
			timestepB = 10.0f;

		if(A->IsPed() && ((CPed*)A)->m_pCurrentPhysSurface == B)
			ispedcontactB = true;
	}else
		timestepB = B->bIsHeavy ? 2.0f : 1.0f;

	float speedA, speedB;
	if(B->bIsStatic){
		if(A->bPedPhysics){
			speedA = DotProduct(A->m_vecMoveSpeed, colpoint.normal);
			if(speedA < 0.0f){
				if(B->IsObject()){
					impulseA = -speedA * A->m_fMass;
					impulseB = impulseA;
					if(impulseA > Bobj->m_fUprootLimit){
						if(IsGlass(B->GetModelIndex()))
							CGlass::WindowRespondsToCollision(B, impulseA, A->m_vecMoveSpeed, colpoint.point, false);
						else if(!B->bInfiniteMass)
							B->bIsStatic = false;
					}else{
						if(IsGlass(B->GetModelIndex()))
							CGlass::WindowRespondsToSoftCollision(B, impulseA);
						if(!A->bInfiniteMass)
							A->ApplyMoveForce(colpoint.normal*(1.0f + A->m_fElasticity)*impulseA);
						return true;
					}
				}else if(!B->bInfiniteMass)
					B->bIsStatic = false;
	
				if(B->bInfiniteMass){
					impulseA = -speedA * A->m_fMass;
					impulseB = 0.0f;
					if(!A->bInfiniteMass)
						A->ApplyMoveForce(colpoint.normal*(1.0f + A->m_fElasticity)*impulseA);
					return true;
				}
			}
		}else{
			CVector pointposA = colpoint.point - A->GetPosition();
			speedA = DotProduct(A->GetSpeed(pointposA), colpoint.normal);
			if(speedA < 0.0f){
				if(B->IsObject()){
					if(A->bHasHitWall)
						eA = -1.0f;
					else
						eA = -(1.0f + A->m_fElasticity);
					impulseA = eA * speedA * A->GetMass(pointposA, colpoint.normal);
					impulseB = impulseA;

					if(Bobj->m_nCollisionDamageEffect && impulseA > 20.0f){
						Bobj->ObjectDamage(impulseA);
						if(!B->bUsesCollision){
							if(!A->bInfiniteMass){
								A->ApplyMoveForce(colpoint.normal*0.2f*impulseA);
								A->ApplyTurnForce(colpoint.normal*0.2f*impulseA, pointposA);
							}
							return false;
						}
					}

					if((impulseA > Bobj->m_fUprootLimit || A->bIsStuck) &&
					   !B->bInfiniteMass){
						if(IsGlass(B->GetModelIndex()))
							CGlass::WindowRespondsToCollision(B, impulseA, A->m_vecMoveSpeed, colpoint.point, false);
						else
							B->bIsStatic = false;
						int16 model = B->GetModelIndex();
						if(model == MI_FIRE_HYDRANT && !Bobj->bHasBeenDamaged){
							CParticleObject::AddObject(POBJECT_FIRE_HYDRANT, B->GetPosition() - CVector(0.0f, 0.0f, 0.5f), true);
							Bobj->bHasBeenDamaged = true;
						}else if(B->IsObject() && model != MI_EXPLODINGBARREL && model != MI_PETROLPUMP)
							Bobj->bHasBeenDamaged = true;
					}else{
						if(IsGlass(B->GetModelIndex()))
							CGlass::WindowRespondsToSoftCollision(B, impulseA);
						CVector f = colpoint.normal * impulseA;
						if(A->IsVehicle() && colpoint.normal.z < 0.7f)
							f.z *= 0.3f;
						if(!A->bInfiniteMass){
							A->ApplyMoveForce(f);
							if(!A->IsVehicle() || !CWorld::bNoMoreCollisionTorque)
								A->ApplyTurnForce(f, pointposA);
						}
						return true;
					}
				}else if(!B->bInfiniteMass)
					B->bIsStatic = false;
			}
		}
	
		if(B->bIsStatic)
			return false;
		if(!B->bInfiniteMass)
			B->AddToMovingList();
	}

	// B is not static

	if(A->bPedPhysics && B->bPedPhysics){
		// negative if A is moving towards B
		speedA = DotProduct(A->m_vecMoveSpeed, colpoint.normal);
		// positive if B is moving towards A
		// not interested in how much B moves into A apparently?
		// only interested in cases where A collided into B
		speedB = max(0.0f, DotProduct(B->m_vecMoveSpeed, colpoint.normal));
		// A has moved into B
		if(speedA < speedB){
			if(!A->bHasHitWall)
				speedB -= (speedA - speedB) * (A->m_fElasticity+B->m_fElasticity)/2.0f;
			impulseA = (speedB-speedA) * A->m_fMass * timestepA;
			if(!A->bInfiniteMass)
				A->ApplyMoveForce(colpoint.normal*(impulseA/timestepA));
			return true;
		}
	}else if(A->bPedPhysics){
		CVector pointposB = colpoint.point - B->GetPosition();
		speedA = DotProduct(A->m_vecMoveSpeed, colpoint.normal);
		speedB = DotProduct(B->GetSpeed(pointposB), colpoint.normal);

		float a = A->m_fMass*timestepA;
		float b = B->GetMassTime(pointposB, colpoint.normal, timestepB);
		float speedSum = (b*speedB + a*speedA)/(a + b);
		if(speedA < speedSum){
			if(A->bHasHitWall)
				eA = speedSum;
			else
				eA = speedSum - (speedA - speedSum) * (A->m_fElasticity+B->m_fElasticity)/2.0f;
			if(B->bHasHitWall)
				eB = speedSum;
			else
				eB = speedSum - (speedB - speedSum) * (A->m_fElasticity+B->m_fElasticity)/2.0f;
			impulseA = (eA - speedA) * a;
			impulseB = -(eB - speedB) * b;
			CVector fA = colpoint.normal*(impulseA/timestepA);
			CVector fB = colpoint.normal*(-impulseB/timestepB);
			if(!A->bInfiniteMass){
				if(fA.z < 0.0f) fA.z = 0.0f;
				if(ispedcontactB){
					fA.x *= 2.0f;
					fA.y *= 2.0f;
				}
				A->ApplyMoveForce(fA);
			}
			if(!B->bInfiniteMass && !ispedcontactB){
				B->ApplyMoveForce(fB);
				B->ApplyTurnForce(fB, pointposB);
			}
			return true;
		}
	}else if(B->bPedPhysics){
		CVector pointposA = colpoint.point - A->GetPosition();
		speedA = DotProduct(A->GetSpeed(pointposA), colpoint.normal);
		speedB = DotProduct(B->m_vecMoveSpeed, colpoint.normal);

		float a = A->GetMassTime(pointposA, colpoint.normal, timestepA);
		float b = B->m_fMass*timestepB;
		float speedSum = (b*speedB + a*speedA)/(a + b);
		if(speedA < speedSum){
			if(A->bHasHitWall)
				eA = speedSum;
			else
				eA = speedSum - (speedA - speedSum) * (A->m_fElasticity+B->m_fElasticity)/2.0f;
			if(B->bHasHitWall)
				eB = speedSum;
			else
				eB = speedSum - (speedB - speedSum) * (A->m_fElasticity+B->m_fElasticity)/2.0f;
			impulseA = (eA - speedA) * a;
			impulseB = -(eB - speedB) * b;
			CVector fA = colpoint.normal*(impulseA/timestepA);
			CVector fB = colpoint.normal*(-impulseB/timestepB);
			if(!A->bInfiniteMass && !ispedcontactA){
				if(fA.z < 0.0f) fA.z = 0.0f;
				A->ApplyMoveForce(fA);
				A->ApplyTurnForce(fA, pointposA);
			}
			if(!B->bInfiniteMass){
				if(fB.z < 0.0f){
					fB.z = 0.0f;
					if(fabs(speedA) < 0.01f)
						fB *= 0.5f;
				}
				if(ispedcontactA){
					fB.x *= 2.0f;
					fB.y *= 2.0f;
				}
				B->ApplyMoveForce(fB);
			}
			return true;
		}
	}else{
		CVector pointposA = colpoint.point - A->GetPosition();
		CVector pointposB = colpoint.point - B->GetPosition();
		speedA = DotProduct(A->GetSpeed(pointposA), colpoint.normal);
		speedB = DotProduct(B->GetSpeed(pointposB), colpoint.normal);
		float a = A->GetMassTime(pointposA, colpoint.normal, timestepA);
		float b = B->GetMassTime(pointposB, colpoint.normal, timestepB);
		float speedSum = (b*speedB + a*speedA)/(a + b);
		if(speedA < speedSum){
			if(A->bHasHitWall)
				eA = speedSum;
			else
				eA = speedSum - (speedA - speedSum) * (A->m_fElasticity+B->m_fElasticity)/2.0f;
			if(B->bHasHitWall)
				eB = speedSum;
			else
				eB = speedSum - (speedB - speedSum) * (A->m_fElasticity+B->m_fElasticity)/2.0f;
			impulseA = (eA - speedA) * a;
			impulseB = -(eB - speedB) * b;
			CVector fA = colpoint.normal*(impulseA/timestepA);
			CVector fB = colpoint.normal*(-impulseB/timestepB);
			if(A->IsVehicle() && !A->bHasHitWall){
				fA.x *= 1.4f;
				fA.y *= 1.4f;
				if(colpoint.normal.z < 0.7f)
					fA.z *= 0.3f;
				if(A->m_status == STATUS_PLAYER)
					pointposA *= 0.8f;
				if(CWorld::bNoMoreCollisionTorque){
					A->ApplyFrictionMoveForce(fA*-0.3f);
					A->ApplyFrictionTurnForce(fA*-0.3f, pointposA);
				}
			}
			if(B->IsVehicle() && !B->bHasHitWall){
				fB.x *= 1.4f;
				fB.y *= 1.4f;
				if(colpoint.normal.z < 0.7f)
					fB.z *= 0.3f;
				if(B->m_status == STATUS_PLAYER)
					pointposB *= 0.8f;
				if(CWorld::bNoMoreCollisionTorque){
					// BUG: the game actually uses A here, but this can't be right
					B->ApplyFrictionMoveForce(fB*-0.3f);
					B->ApplyFrictionTurnForce(fB*-0.3f, pointposB);
				}
			}
			if(!A->bInfiniteMass){
				A->ApplyMoveForce(fA);
				A->ApplyTurnForce(fA, pointposA);
			}
			if(!B->bInfiniteMass){
				if(B->bIsInSafePosition)
					B->UnsetIsInSafePosition();
				B->ApplyMoveForce(fB);
				B->ApplyTurnForce(fB, pointposB);
			}
			return true;
		}
	}
	return false;
}

bool
CPhysical::ApplyCollisionAlt(CEntity *B, CColPoint &colpoint, float &impulse, CVector &moveSpeed, CVector &turnSpeed)
{
	float normalSpeed;
	float e;
	CVector speed;
	CVector vImpulse;

	if(bPedPhysics){
		normalSpeed = DotProduct(m_vecMoveSpeed, colpoint.normal);
		if(normalSpeed < 0.0f){
			impulse = -normalSpeed * m_fMass;
			ApplyMoveForce(colpoint.normal * impulse);
			return true;
		}
	}else{
		CVector pointpos = colpoint.point - GetPosition();
		speed = GetSpeed(pointpos);
		normalSpeed = DotProduct(speed, colpoint.normal);
		if(normalSpeed < 0.0f){
			float minspeed = 0.0104f * CTimer::GetTimeStep();
			if((IsObject() || IsVehicle() && GetUp().z < -0.3f) &&
			   !bHasContacted &&
			   fabs(m_vecMoveSpeed.x) < minspeed &&
			   fabs(m_vecMoveSpeed.y) < minspeed &&
			   fabs(m_vecMoveSpeed.z) < minspeed*2.0f)
				e = -1.0f;
			else
				e = -(m_fElasticity + 1.0f);
			impulse = normalSpeed * e * GetMass(pointpos, colpoint.normal);

			// ApplyMoveForce
			vImpulse = colpoint.normal*impulse;
			if(IsVehicle() &&
			   (!bHasHitWall ||
			    !(m_vecMoveSpeed.MagnitudeSqr() > 0.1 || !(B->IsBuilding() || ((CPhysical*)B)->bInfiniteMass))))
				moveSpeed += vImpulse * 1.2f * (1.0f/m_fMass);
			else
				moveSpeed += vImpulse * (1.0f/m_fMass);

			// ApplyTurnForce
			CVector com = Multiply3x3(m_matrix, m_vecCentreOfMass);
			CVector turnimpulse = CrossProduct(pointpos-com, vImpulse);
			turnSpeed += turnimpulse*(1.0f/m_fTurnMass);

			return true;
		}
	}
	return false;
}

bool
CPhysical::ApplyFriction(CPhysical *B, float adhesiveLimit, CColPoint &colpoint)
{
	CVector speedA, speedB;
	float normalSpeedA, normalSpeedB;
	CVector vOtherSpeedA, vOtherSpeedB;
	float fOtherSpeedA, fOtherSpeedB;
	float speedSum;
	CVector frictionDir;
	float impulseA, impulseB;
	float impulseLimit;
	CPhysical *A = this;

	if(A->bPedPhysics && B->bPedPhysics){
		normalSpeedA = DotProduct(A->m_vecMoveSpeed, colpoint.normal);
		normalSpeedB = DotProduct(B->m_vecMoveSpeed, colpoint.normal);
		vOtherSpeedA = A->m_vecMoveSpeed - colpoint.normal*normalSpeedA;
		vOtherSpeedB = B->m_vecMoveSpeed - colpoint.normal*normalSpeedB;

		fOtherSpeedA = vOtherSpeedA.Magnitude();
		fOtherSpeedB = vOtherSpeedB.Magnitude();

		frictionDir = vOtherSpeedA * (1.0f/fOtherSpeedA);
		speedSum = (B->m_fMass*fOtherSpeedB + A->m_fMass*fOtherSpeedA)/(B->m_fMass + A->m_fMass);
		if(fOtherSpeedA > speedSum){
			impulseA = (speedSum - fOtherSpeedA) * A->m_fMass;
			impulseB = (speedSum - fOtherSpeedB) * B->m_fMass;
			impulseLimit = adhesiveLimit*CTimer::GetTimeStep();
			if(impulseA < -impulseLimit) impulseA = -impulseLimit;
			if(impulseB > impulseLimit) impulseB = impulseLimit;		// BUG: game has A's clamp again here, but this can't be right
			A->ApplyFrictionMoveForce(frictionDir*impulseA);
			B->ApplyFrictionMoveForce(frictionDir*impulseB);
			return true;
		}
	}else if(A->bPedPhysics){
		if(B->IsVehicle())
			return false;
		CVector pointposB = colpoint.point - B->GetPosition();
		speedB = B->GetSpeed(pointposB);

		normalSpeedA = DotProduct(A->m_vecMoveSpeed, colpoint.normal);
		normalSpeedB = DotProduct(speedB, colpoint.normal);
		vOtherSpeedA = A->m_vecMoveSpeed - colpoint.normal*normalSpeedA;
		vOtherSpeedB = speedB - colpoint.normal*normalSpeedB;

		fOtherSpeedA = vOtherSpeedA.Magnitude();
		fOtherSpeedB = vOtherSpeedB.Magnitude();

		frictionDir = vOtherSpeedA * (1.0f/fOtherSpeedA);
		float massB = B->GetMass(pointposB, frictionDir);
		speedSum = (massB*fOtherSpeedB + A->m_fMass*fOtherSpeedA)/(massB + A->m_fMass);
		if(fOtherSpeedA > speedSum){
			impulseA = (speedSum - fOtherSpeedA) * A->m_fMass;
			impulseB = (speedSum - fOtherSpeedB) * massB;
			impulseLimit = adhesiveLimit*CTimer::GetTimeStep();
			if(impulseA < -impulseLimit) impulseA = -impulseLimit;
			if(impulseB > impulseLimit) impulseB = impulseLimit;
			A->ApplyFrictionMoveForce(frictionDir*impulseA);
			B->ApplyFrictionMoveForce(frictionDir*impulseB);
			B->ApplyFrictionTurnForce(frictionDir*impulseB, pointposB);
			return true;
		}
	}else if(B->bPedPhysics){
		if(A->IsVehicle())
			return false;
		CVector pointposA = colpoint.point - A->GetPosition();
		speedA = A->GetSpeed(pointposA);

		normalSpeedA = DotProduct(speedA, colpoint.normal);
		normalSpeedB = DotProduct(B->m_vecMoveSpeed, colpoint.normal);
		vOtherSpeedA = speedA - colpoint.normal*normalSpeedA;
		vOtherSpeedB = B->m_vecMoveSpeed - colpoint.normal*normalSpeedB;

		fOtherSpeedA = vOtherSpeedA.Magnitude();
		fOtherSpeedB = vOtherSpeedB.Magnitude();

		frictionDir = vOtherSpeedA * (1.0f/fOtherSpeedA);
		float massA = A->GetMass(pointposA, frictionDir);
		speedSum = (B->m_fMass*fOtherSpeedB + massA*fOtherSpeedA)/(B->m_fMass + massA);
		if(fOtherSpeedA > speedSum){
			impulseA = (speedSum - fOtherSpeedA) * massA;
			impulseB = (speedSum - fOtherSpeedB) * B->m_fMass;
			impulseLimit = adhesiveLimit*CTimer::GetTimeStep();
			if(impulseA < -impulseLimit) impulseA = -impulseLimit;
			if(impulseB > impulseLimit) impulseB = impulseLimit;
			A->ApplyFrictionMoveForce(frictionDir*impulseA);
			A->ApplyFrictionTurnForce(frictionDir*impulseA, pointposA);
			B->ApplyFrictionMoveForce(frictionDir*impulseB);
			return true;
		}
	}else{
		CVector pointposA = colpoint.point - A->GetPosition();
		CVector pointposB = colpoint.point - B->GetPosition();
		speedA = A->GetSpeed(pointposA);
		speedB = B->GetSpeed(pointposB);

		normalSpeedA = DotProduct(speedA, colpoint.normal);
		normalSpeedB = DotProduct(speedB, colpoint.normal);
		vOtherSpeedA = speedA - colpoint.normal*normalSpeedA;
		vOtherSpeedB = speedB - colpoint.normal*normalSpeedB;

		fOtherSpeedA = vOtherSpeedA.Magnitude();
		fOtherSpeedB = vOtherSpeedB.Magnitude();

		frictionDir = vOtherSpeedA * (1.0f/fOtherSpeedA);
		float massA = A->GetMass(pointposA, frictionDir);
		float massB = B->GetMass(pointposB, frictionDir);
		speedSum = (massB*fOtherSpeedB + massA*fOtherSpeedA)/(massB + massA);
		if(fOtherSpeedA > speedSum){
			impulseA = (speedSum - fOtherSpeedA) * massA;
			impulseB = (speedSum - fOtherSpeedB) * massB;
			impulseLimit = adhesiveLimit*CTimer::GetTimeStep();
			if(impulseA < -impulseLimit) impulseA = -impulseLimit;
			if(impulseB > impulseLimit) impulseB = impulseLimit;
			A->ApplyFrictionMoveForce(frictionDir*impulseA);
			A->ApplyFrictionTurnForce(frictionDir*impulseA, pointposA);
			B->ApplyFrictionMoveForce(frictionDir*impulseB);
			B->ApplyFrictionTurnForce(frictionDir*impulseB, pointposB);
			return true;
		}
	}
	return false;
}

bool
CPhysical::ApplyFriction(float adhesiveLimit, CColPoint &colpoint)
{
	CVector speed;
	float normalSpeed;
	CVector vOtherSpeed;
	float fOtherSpeed;
	CVector frictionDir;
	float fImpulse;
	float impulseLimit;

	if(bPedPhysics){
		normalSpeed = DotProduct(m_vecMoveSpeed, colpoint.normal);
		vOtherSpeed = m_vecMoveSpeed - colpoint.normal*normalSpeed;

		fOtherSpeed = vOtherSpeed.Magnitude();
		if(fOtherSpeed > 0.0f){
			frictionDir = vOtherSpeed * (1.0f/fOtherSpeed);
			// not really impulse but speed
			// maybe use ApplyFrictionMoveForce instead?
			fImpulse = -fOtherSpeed;
			impulseLimit = adhesiveLimit*CTimer::GetTimeStep() / m_fMass;
			if(fImpulse < -impulseLimit) fImpulse = -impulseLimit;
			CVector vImpulse = frictionDir*fImpulse;
			m_vecMoveFriction += CVector(vImpulse.x, vImpulse.y, 0.0f);
			return true;
		}
	}else{
		CVector pointpos = colpoint.point - GetPosition();
		speed = GetSpeed(pointpos);
		normalSpeed = DotProduct(speed, colpoint.normal);
		vOtherSpeed = speed - colpoint.normal*normalSpeed;

		fOtherSpeed = vOtherSpeed.Magnitude();
		if(fOtherSpeed > 0.0f){
			frictionDir = vOtherSpeed * (1.0f/fOtherSpeed);
			fImpulse = -fOtherSpeed * m_fMass;
			impulseLimit = adhesiveLimit*CTimer::GetTimeStep() * 1.5f;
			if(fImpulse < -impulseLimit) fImpulse = -impulseLimit;
			ApplyFrictionMoveForce(frictionDir*fImpulse);
			ApplyFrictionTurnForce(frictionDir*fImpulse, pointpos);

			if(fOtherSpeed > 0.1f &&
			   colpoint.surfaceB != SURFACE_2 && colpoint.surfaceB != SURFACE_4 &&
			   CSurfaceTable::GetAdhesionGroup(colpoint.surfaceA) == ADHESIVE_HARD){
				CVector v = frictionDir * fOtherSpeed * 0.25f;
				for(int i = 0; i < 4; i++)
					CParticle::AddParticle(PARTICLE_SPARK_SMALL, colpoint.point, v);
			}
			return true;
		}
	}
	return false;
}

bool
CPhysical::ProcessShiftSectorList(CPtrList *lists)
{
	int i, j;
	CPtrList *list;
	CPtrNode *node;
	CPhysical *A, *B;
	CObject *Bobj;
	bool canshift;
	CVector center;
	float radius;

	int numCollisions;
	int mostColliding;
	CColPoint colpoints[32];
	CVector shift = { 0.0f, 0.0f, 0.0f };
	bool doShift = false;
	CEntity *boat = nil;

	bool skipShift;

	A = this;

	A->GetBoundCentre(center);
	radius = A->GetBoundRadius();
	for(i = 0; i <= ENTITYLIST_PEDS_OVERLAP; i++){
		list = &lists[i];
		for(node = list->first; node; node = node->next){
			B = (CPhysical*)node->item;
			Bobj = (CObject*)B;
			skipShift = false;

			if(B->IsBuilding() ||
			   B->IsObject() && B->bInfiniteMass)
				canshift = true;
			else
				canshift = A->IsPed() &&
					B->IsObject() && B->bInfiniteMass && !Bobj->bHasBeenDamaged;
			if(B == A ||
			   B->m_scanCode == CWorld::GetCurrentScanCode() ||
			   !B->bUsesCollision ||
			   (A->bHasHitWall && !canshift) ||
			   !B->GetIsTouching(center, radius))
				continue;

			// This could perhaps be done a bit nicer

			if(B->IsBuilding())
				skipShift = false;
			else if(IsTrafficLight(A->GetModelIndex()) &&
			  (B->IsVehicle() || B->IsPed()) &&
			  A->GetUp().z < 0.66f)
				skipShift = true;
			else if((A->IsVehicle() || A->IsPed()) &&
			  B->GetUp().z < 0.66f &&
			  IsTrafficLight(B->GetModelIndex()))
				skipShift = true;
// TODO: maybe flip some ifs here
			else if(A->IsObject() && B->IsVehicle()){
				CObject *Aobj = (CObject*)A;
				if(Aobj->ObjectCreatedBy != TEMP_OBJECT &&
				   !Aobj->bHasBeenDamaged &&
				   Aobj->bIsStatic){
					if(Aobj->m_pCollidingEntity == B)
						Aobj->m_pCollidingEntity = nil;
				}else if(Aobj->m_pCollidingEntity != B){
					CMatrix inv;
					CVector size = CModelInfo::GetModelInfo(A->GetModelIndex())->GetColModel()->boundingBox.GetSize();
					size = A->GetMatrix() * size;
					if(size.z < B->GetPosition().z ||
					   (Invert(B->GetMatrix(), inv) * size).z < 0.0f){
						skipShift = true;
						Aobj->m_pCollidingEntity = B;
					}
				}
			}else if(B->IsObject() && A->IsVehicle()){
				CObject *Bobj = (CObject*)B;
				if(Bobj->ObjectCreatedBy != TEMP_OBJECT &&
				   !Bobj->bHasBeenDamaged &&
				   Bobj->bIsStatic){
					if(Bobj->m_pCollidingEntity == A)
						Bobj->m_pCollidingEntity = nil;
				}else if(Bobj->m_pCollidingEntity != A){
					CMatrix inv;
					CVector size = CModelInfo::GetModelInfo(B->GetModelIndex())->GetColModel()->boundingBox.GetSize();
					size = B->GetMatrix() * size;
					if(size.z < A->GetPosition().z ||
					   (Invert(A->GetMatrix(), inv) * size).z < 0.0f)
						skipShift = true;
				}
			}else if(IsBodyPart(A->GetModelIndex()) && B->IsPed())
				skipShift = true;
			else if(A->IsPed() && IsBodyPart(B->GetModelIndex()))
				skipShift = true;
			else if(A->IsPed() && ((CPed*)A)->m_pCollidingEntity == B ||
			  B->IsPed() && ((CPed*)B)->m_pCollidingEntity == A ||
			  A->GetModelIndex() == MI_RCBANDIT && B->IsVehicle() ||
			  B->GetModelIndex() == MI_RCBANDIT && (A->IsPed() || A->IsVehicle()))
				skipShift = true;

			if(skipShift)
				continue;

			B->m_scanCode = CWorld::GetCurrentScanCode();
			numCollisions = A->ProcessEntityCollision(B, colpoints);
			if(numCollisions <= 0)
				continue;

			mostColliding = 0;
			for(j = 1; j < numCollisions; j++)
				if(colpoints[j].depth > colpoints[mostColliding].depth)
					mostColliding = j;

			if(CWorld::bSecondShift)
				for(j = 0; j < numCollisions; j++)
					shift += colpoints[j].normal * colpoints[j].depth * 1.5f/numCollisions;
			else
				for(j = 0; j < numCollisions; j++)
					shift += colpoints[j].normal * colpoints[j].depth * 1.2f/numCollisions;

			if(A->IsVehicle() && B->IsVehicle()){
				CVector dir = A->GetPosition() - B->GetPosition();
				dir.Normalise();
				if(dir.z < 0.0f && dir.z < A->GetForward().z && dir.z < A->GetRight().z)
					dir.z = min(0.0f, min(A->GetForward().z, A->GetRight().z));
				shift += dir * colpoints[mostColliding].depth * 0.5f;
			}else if(A->IsPed() && B->IsVehicle() && ((CVehicle*)B)->IsBoat()){
				CVector dir = colpoints[mostColliding].normal;
				float f = min(fabs(dir.z), 0.9f);
				dir.z = 0.0f;
				dir.Normalise();
				shift += dir * colpoints[mostColliding].depth / (1.0f - f);
				boat = B;
			}else if(B->IsPed() && A->IsVehicle() && ((CVehicle*)A)->IsBoat()){
				CVector dir = colpoints[mostColliding].normal * -1.0f;
				float f = min(fabs(dir.z), 0.9f);
				dir.z = 0.0f;
				dir.Normalise();
				B->GetPosition() += dir * colpoints[mostColliding].depth / (1.0f - f);
				// BUG? how can that ever happen? A is a Ped
				if(B->IsVehicle())
					B->ProcessEntityCollision(A, colpoints);
			}else{
				if(CWorld::bSecondShift)
					shift += colpoints[mostColliding].normal * colpoints[mostColliding].depth * 0.4f;
				else
					shift += colpoints[mostColliding].normal * colpoints[mostColliding].depth * 0.2f;
			}

			doShift = true;
		}
	}

	if(!doShift)
		return false;
	GetPosition() += shift;
	if(boat)
		ProcessEntityCollision(boat, colpoints);
	return true;
}

bool
CPhysical::ProcessCollisionSectorList_SimpleCar(CPtrList *lists)
{
	static CColPoint aColPoints[32];
	float radius;
	CVector center;
	int listtype;
	CPhysical *A, *B;
	int numCollisions;
	int i;
	float impulseA = -1.0f;
	float impulseB = -1.0f;

	A = (CPhysical*)this;

	radius = A->GetBoundRadius();
	A->GetBoundCentre(center);

	for(listtype = 3; listtype >= 0; listtype--){
		// Go through vehicles and objects
		CPtrList *list;
		switch(listtype){
		case 0:	list = &lists[ENTITYLIST_VEHICLES]; break;
		case 1:	list = &lists[ENTITYLIST_VEHICLES_OVERLAP]; break;
		case 2:	list = &lists[ENTITYLIST_OBJECTS]; break;
		case 3:	list = &lists[ENTITYLIST_OBJECTS_OVERLAP]; break;
		}

		// Find first collision in list
		CPtrNode *listnode;
		for(listnode = list->first; listnode; listnode = listnode->next){
			B = (CPhysical*)listnode->item;
			if(B != A &&
			   B->m_scanCode != CWorld::GetCurrentScanCode() &&
			   B->bUsesCollision &&
			   B->GetIsTouching(center, radius)){
				B->m_scanCode = CWorld::GetCurrentScanCode();
				numCollisions = A->ProcessEntityCollision(B, aColPoints);
				if(numCollisions > 0)
					goto collision;
			}
		}
	}
	// no collision
	return false;

collision:

	if(A->bHasContacted && B->bHasContacted){
		for(i = 0; i < numCollisions; i++){
			if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
				continue;

			if(impulseA > A->m_fDamageImpulse)
				A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

			if(impulseB > B->m_fDamageImpulse)
				B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

			float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
			float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

			DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));
		}
	}else if(A->bHasContacted){
		CVector savedMoveFriction = A->m_vecMoveFriction;
		CVector savedTurnFriction = A->m_vecTurnFriction;
		A->m_vecMoveFriction = CVector(0.0f, 0.0f, 0.0f);
		A->m_vecTurnFriction = CVector(0.0f, 0.0f, 0.0f);
		A->bHasContacted = false;

		for(i = 0; i < numCollisions; i++){
			if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
				continue;

			if(impulseA > A->m_fDamageImpulse)
				A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

			if(impulseB > B->m_fDamageImpulse)
				B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

			float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
			float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

			DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));

			if(A->ApplyFriction(B, CSurfaceTable::GetAdhesiveLimit(aColPoints[i])/numCollisions, aColPoints[i])){
				A->bHasContacted = true;
				B->bHasContacted = true;
			}
		}

		if(!A->bHasContacted){
			A->bHasContacted = true;
			A->m_vecMoveFriction = savedMoveFriction;
			A->m_vecTurnFriction = savedTurnFriction;
		}
	}else if(B->bHasContacted){
		CVector savedMoveFriction = B->m_vecMoveFriction;
		CVector savedTurnFriction = B->m_vecTurnFriction;
		B->m_vecMoveFriction = CVector(0.0f, 0.0f, 0.0f);
		B->m_vecTurnFriction = CVector(0.0f, 0.0f, 0.0f);
		B->bHasContacted = false;

		for(i = 0; i < numCollisions; i++){
			if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
				continue;

			if(impulseA > A->m_fDamageImpulse)
				A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

			if(impulseB > B->m_fDamageImpulse)
				B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

			float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
			float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

			DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));

			if(A->ApplyFriction(B, CSurfaceTable::GetAdhesiveLimit(aColPoints[i])/numCollisions, aColPoints[i])){
				A->bHasContacted = true;
				B->bHasContacted = true;
			}
		}

		if(!B->bHasContacted){
			B->bHasContacted = true;
			B->m_vecMoveFriction = savedMoveFriction;
			B->m_vecTurnFriction = savedTurnFriction;
		}
	}else{
		for(i = 0; i < numCollisions; i++){
			if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
				continue;

			if(impulseA > A->m_fDamageImpulse)
				A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

			if(impulseB > B->m_fDamageImpulse)
				B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

			float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
			float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

			DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));

			if(A->ApplyFriction(B, CSurfaceTable::GetAdhesiveLimit(aColPoints[i])/numCollisions, aColPoints[i])){
				A->bHasContacted = true;
				B->bHasContacted = true;
			}
		}
	}

	if(B->m_status == STATUS_SIMPLE){
		B->m_status = STATUS_PHYSICS;
		if(B->IsVehicle())
			CCarCtrl::SwitchVehicleToRealPhysics((CVehicle*)B);
	}

	return true;
}

bool
CPhysical::ProcessCollisionSectorList(CPtrList *lists)
{
	static CColPoint aColPoints[32];
	float radius;
	CVector center;
	CPtrList *list;
	CPhysical *A, *B;
	CObject *Aobj, *Bobj;
	CPed *Aped, *Bped;
	int numCollisions;
	int numResponses;
	int i, j;
	bool skipCollision, altcollision;
	float impulseA = -1.0f;
	float impulseB = -1.0f;

	A = (CPhysical*)this;
	Aobj = (CObject*)A;
	Aped = (CPed*)A;

	radius = A->GetBoundRadius();
	A->GetBoundCentre(center);

	for(j = 0; j <= ENTITYLIST_PEDS_OVERLAP; j++){
		list = &lists[j];

		CPtrNode *listnode;
		for(listnode = list->first; listnode; listnode = listnode->next){
			B = (CPhysical*)listnode->item;
			Bobj = (CObject*)B;
			Bped = (CPed*)B;

			bool isTouching = true;
			if(B == A ||
			   B->m_scanCode == CWorld::GetCurrentScanCode() ||
			   !B->bUsesCollision ||
			   !(isTouching = B->GetIsTouching(center, radius))){
				if(!isTouching){
					if(A->IsObject() && Aobj->m_pCollidingEntity == B)
						Aobj->m_pCollidingEntity = nil;
					else if(B->IsObject() && Bobj->m_pCollidingEntity == A)
						Bobj->m_pCollidingEntity = nil;
					else if(A->IsPed() && Aped->m_pCollidingEntity == B)
						Aped->m_pCollidingEntity = nil;
					else if(B->IsPed() && Bped->m_pCollidingEntity == A)
						Bped->m_pCollidingEntity = nil;
				}
				continue;
			}

			A->m_phy_flagA80 = false;
			skipCollision = false;
			altcollision = false;

			if(B->IsBuilding())
				skipCollision = false;
			else if(IsTrafficLight(A->GetModelIndex()) &&
			  (B->IsVehicle() || B->IsPed()) &&
			  A->GetUp().z < 0.66f){
				skipCollision = true;
				A->m_phy_flagA80 = true;
				Aobj->m_pCollidingEntity = B;
			}else if((A->IsVehicle() || A->IsPed()) &&
			  B->GetUp().z < 0.66f &&
			  IsTrafficLight(B->GetModelIndex())){
				skipCollision = true;
				A->m_phy_flagA80 = true;
				Bobj->m_pCollidingEntity = A;
			}else if(A->IsObject() && B->IsVehicle()){
				if(A->GetModelIndex() == MI_CAR_BUMPER || A->GetModelIndex() == MI_FILES)
					skipCollision = true;
				else if(Aobj->ObjectCreatedBy == TEMP_OBJECT ||
				   Aobj->bHasBeenDamaged ||
				   !Aobj->bIsStatic){
					if(Aobj->m_pCollidingEntity == B)
						skipCollision = true;
					else{
						CMatrix inv;
						CVector size = CModelInfo::GetModelInfo(A->GetModelIndex())->GetColModel()->boundingBox.GetSize();
						size = A->GetMatrix() * size;
						if(size.z < B->GetPosition().z ||
						   (Invert(B->GetMatrix(), inv) * size).z < 0.0f){
							skipCollision = true;
							Aobj->m_pCollidingEntity = B;
						}
					}
				}
			}else if(B->IsObject() && A->IsVehicle()){
				if(B->GetModelIndex() == MI_CAR_BUMPER || B->GetModelIndex() == MI_FILES)
					skipCollision = true;
				else if(Bobj->ObjectCreatedBy == TEMP_OBJECT ||
				   Bobj->bHasBeenDamaged ||
				   !Bobj->bIsStatic){
					if(Bobj->m_pCollidingEntity == A)
						skipCollision = true;
					else{
						CMatrix inv;
						CVector size = CModelInfo::GetModelInfo(B->GetModelIndex())->GetColModel()->boundingBox.GetSize();
						size = B->GetMatrix() * size;
						if(size.z < A->GetPosition().z ||
						   (Invert(A->GetMatrix(), inv) * size).z < 0.0f){
							skipCollision = true;
						}
					}
				}
			}else if(IsBodyPart(A->GetModelIndex()) && B->IsPed()){
				skipCollision = true;
			}else if(A->IsPed() && IsBodyPart(B->GetModelIndex())){
				skipCollision = true;
				A->m_phy_flagA80 = true;
			}else if(A->IsPed() && Aped->m_pCollidingEntity == B){
				skipCollision = true;
				if(!Aped->m_ped_flagH1)
					A->m_phy_flagA80 = true;
			}else if(B->IsPed() && Bped->m_pCollidingEntity == A){
				skipCollision = true;
				A->m_phy_flagA80 = true;
			}else if(A->GetModelIndex() == MI_RCBANDIT && (B->IsPed() || B->IsVehicle()) ||
			         B->GetModelIndex() == MI_RCBANDIT && (A->IsPed() || A->IsVehicle())){
				skipCollision = true;
				A->m_phy_flagA80 = true;
			}else if(A->IsPed() && B->IsObject() && Bobj->m_fUprootLimit > 0.0f)
				altcollision = true;


			if(!A->bUsesCollision || skipCollision){
				B->m_scanCode = CWorld::GetCurrentScanCode();
				A->ProcessEntityCollision(B, aColPoints);
			}else if(B->IsBuilding() || B->bIsStuck || B->bInfiniteMass || altcollision){

				// This is the case where B doesn't move

				B->m_scanCode = CWorld::GetCurrentScanCode();
				numCollisions = A->ProcessEntityCollision(B, aColPoints);
				if(numCollisions <= 0)
					continue;

				CVector moveSpeed = { 0.0f, 0.0f, 0.0f };
				CVector turnSpeed = { 0.0f, 0.0f, 0.0f };
				numResponses = 0;
				if(A->bHasContacted){
					for(i = 0; i < numCollisions; i++){
						if(!A->ApplyCollisionAlt(B, aColPoints[i], impulseA, moveSpeed, turnSpeed))
							continue;

						numResponses++;

						if(impulseA > A->m_fDamageImpulse)
							A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

						float imp = impulseA;
						if(A->IsVehicle() && A->GetUp().z < -0.6f &&
						   fabs(A->m_vecMoveSpeed.x) < 0.05f &&
						   fabs(A->m_vecMoveSpeed.y) < 0.05f)
							imp *= 0.1f;

						float turnSpeedDiff = A->m_vecTurnSpeed.MagnitudeSqr();
						float moveSpeedDiff = A->m_vecMoveSpeed.MagnitudeSqr();

						DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, imp, max(turnSpeedDiff, moveSpeedDiff));
					}
				}else{
					for(i = 0; i < numCollisions; i++){
						if(!A->ApplyCollisionAlt(B, aColPoints[i], impulseA, moveSpeed, turnSpeed))
							continue;

						numResponses++;

						if(impulseA > A->m_fDamageImpulse)
							A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

						float imp = impulseA;
						if(A->IsVehicle() && A->GetUp().z < -0.6f &&
						   fabs(A->m_vecMoveSpeed.x) < 0.05f &&
						   fabs(A->m_vecMoveSpeed.y) < 0.05f)
							imp *= 0.1f;

						float turnSpeedDiff = A->m_vecTurnSpeed.MagnitudeSqr();
						float moveSpeedDiff = A->m_vecMoveSpeed.MagnitudeSqr();

						DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, imp, max(turnSpeedDiff, moveSpeedDiff));

						float adhesion = CSurfaceTable::GetAdhesiveLimit(aColPoints[i]) / numCollisions;

						if(A->GetModelIndex() == MI_RCBANDIT)
							adhesion *= 0.2f;
						else if(IsBoatModel(A->GetModelIndex())){
							if(aColPoints[i].normal.z > 0.6f){
								if(CSurfaceTable::GetAdhesionGroup(aColPoints[i].surfaceB) == ADHESIVE_LOOSE)
									adhesion *= 3.0f;
							}else
								adhesion = 0.0f;
						}else if(A->IsVehicle()){
							if(A->m_status == STATUS_WRECKED)
								adhesion *= 3.0f;
							else if(A->GetUp().z > 0.3f)
								adhesion = 0.0f;
							else
								adhesion *= max(5.0f, 0.03f*impulseA + 1.0f);
						}

						if(A->ApplyFriction(adhesion, aColPoints[i]))
							A->bHasContacted = true;
					}
				}

				if(numResponses){
					m_vecMoveSpeed += moveSpeed / numResponses;
					m_vecTurnSpeed += turnSpeed / numResponses;
					if(!CWorld::bNoMoreCollisionTorque &&
					   A->m_status == STATUS_PLAYER && A->IsVehicle() &&
					   fabs(A->m_vecMoveSpeed.x) > 0.2f &&
					   fabs(A->m_vecMoveSpeed.y) > 0.2f){
						A->m_vecMoveFriction.x += moveSpeed.x * -0.3f / numCollisions;
						A->m_vecMoveFriction.y += moveSpeed.y * -0.3f / numCollisions;
						A->m_vecTurnFriction += turnSpeed * -0.3f / numCollisions;
					}
					return true;
				}
			}else{

				// B can move

				B->m_scanCode = CWorld::GetCurrentScanCode();
				numCollisions = A->ProcessEntityCollision(B, aColPoints);
				if(numCollisions <= 0)
					continue;

				float maxImpulseA = 0.0f;
				float maxImpulseB = 0.0f;
				if(A->bHasContacted && B->bHasContacted){
					for(i = 0; i < numCollisions; i++){
						if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
							continue;

						if(impulseA > maxImpulseA) maxImpulseA = impulseA;
						if(impulseB > maxImpulseB) maxImpulseB = impulseB;

						if(impulseA > A->m_fDamageImpulse)
							A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

						if(impulseB > B->m_fDamageImpulse)
							B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

						float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
						float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

						DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));
					}
				}else if(A->bHasContacted){
					CVector savedMoveFriction = A->m_vecMoveFriction;
					CVector savedTurnFriction = A->m_vecTurnFriction;
					A->m_vecMoveFriction = CVector(0.0f, 0.0f, 0.0f);
					A->m_vecTurnFriction = CVector(0.0f, 0.0f, 0.0f);
					A->bHasContacted = false;

					for(i = 0; i < numCollisions; i++){
						if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
							continue;

						if(impulseA > maxImpulseA) maxImpulseA = impulseA;
						if(impulseB > maxImpulseB) maxImpulseB = impulseB;

						if(impulseA > A->m_fDamageImpulse)
							A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

						if(impulseB > B->m_fDamageImpulse)
							B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

						float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
						float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

						DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));

						if(A->ApplyFriction(B, CSurfaceTable::GetAdhesiveLimit(aColPoints[i])/numCollisions, aColPoints[i])){
							A->bHasContacted = true;
							B->bHasContacted = true;
						}
					}

					if(!A->bHasContacted){
						A->bHasContacted = true;
						A->m_vecMoveFriction = savedMoveFriction;
						A->m_vecTurnFriction = savedTurnFriction;
					}
				}else if(B->bHasContacted){
					CVector savedMoveFriction = B->m_vecMoveFriction;
					CVector savedTurnFriction = B->m_vecTurnFriction;
					B->m_vecMoveFriction = CVector(0.0f, 0.0f, 0.0f);
					B->m_vecTurnFriction = CVector(0.0f, 0.0f, 0.0f);
					B->bHasContacted = false;

					for(i = 0; i < numCollisions; i++){
						if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
							continue;

						if(impulseA > maxImpulseA) maxImpulseA = impulseA;
						if(impulseB > maxImpulseB) maxImpulseB = impulseB;

						if(impulseA > A->m_fDamageImpulse)
							A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

						if(impulseB > B->m_fDamageImpulse)
							B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

						float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
						float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

						DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));

						if(A->ApplyFriction(B, CSurfaceTable::GetAdhesiveLimit(aColPoints[i])/numCollisions, aColPoints[i])){
							A->bHasContacted = true;
							B->bHasContacted = true;
						}
					}

					if(!B->bHasContacted){
						B->bHasContacted = true;
						B->m_vecMoveFriction = savedMoveFriction;
						B->m_vecTurnFriction = savedTurnFriction;
					}
				}else{
					for(i = 0; i < numCollisions; i++){
						if(!A->ApplyCollision(B, aColPoints[i], impulseA, impulseB))
							continue;

						if(impulseA > maxImpulseA) maxImpulseA = impulseA;
						if(impulseB > maxImpulseB) maxImpulseB = impulseB;

						if(impulseA > A->m_fDamageImpulse)
							A->SetDamagedPieceRecord(aColPoints[i].pieceA, impulseA, B, aColPoints[i].normal);

						if(impulseB > B->m_fDamageImpulse)
							B->SetDamagedPieceRecord(aColPoints[i].pieceB, impulseB, A, aColPoints[i].normal);

						float turnSpeedDiff = (B->m_vecTurnSpeed - A->m_vecTurnSpeed).MagnitudeSqr();
						float moveSpeedDiff = (B->m_vecMoveSpeed - A->m_vecMoveSpeed).MagnitudeSqr();

						DMAudio.ReportCollision(A, B, aColPoints[i].surfaceA, aColPoints[i].surfaceB, impulseA, max(turnSpeedDiff, moveSpeedDiff));

						if(A->ApplyFriction(B, CSurfaceTable::GetAdhesiveLimit(aColPoints[i])/numCollisions, aColPoints[i])){
							A->bHasContacted = true;
							B->bHasContacted = true;
						}
					}
				}

				if(B->IsPed() && A->IsVehicle() &&
				   (!Bped->IsPlayer() || B->bHasHitWall && A->m_vecMoveSpeed.MagnitudeSqr() > 0.0025f))
					Bped->KillPedWithCar((CVehicle*)A, maxImpulseB);
				else if(B->GetModelIndex() == MI_TRAIN && A->IsPed() &&
				  (!Aped->IsPlayer() || A->bHasHitWall))
					Aped->KillPedWithCar((CVehicle*)B, maxImpulseA*2.0f);
				else if(B->IsObject() && B->bUsesCollision && A->IsVehicle()){
					if(Bobj->m_nCollisionDamageEffect && maxImpulseB > 20.0f)
						Bobj->ObjectDamage(maxImpulseB);
				}else if(A->IsObject() && A->bUsesCollision && B->IsVehicle()){
					// BUG? not impulseA?
					if(Aobj->m_nCollisionDamageEffect && maxImpulseB > 20.0f)
						Aobj->ObjectDamage(maxImpulseB);
				}

				if(B->m_status == STATUS_SIMPLE){
					B->m_status = STATUS_PHYSICS;
					if(B->IsVehicle())
						CCarCtrl::SwitchVehicleToRealPhysics((CVehicle*)B);
				}

				return true;
			}
			
		}
	}

	return false;
}

bool
CPhysical::CheckCollision(void)
{
	CEntryInfoNode *node;

	bCollisionProcessed = false;
	CWorld::AdvanceCurrentScanCode();
	for(node = m_entryInfoList.first; node; node = node->next)
		if(ProcessCollisionSectorList(node->sector->m_lists))
			return true;
	return false;
}

bool
CPhysical::CheckCollision_SimpleCar(void)
{
	CEntryInfoNode *node;

	bCollisionProcessed = false;
	CWorld::AdvanceCurrentScanCode();
	for(node = m_entryInfoList.first; node; node = node->next)
		if(ProcessCollisionSectorList_SimpleCar(node->sector->m_lists))
			return true;
	return false;
}

void
CPhysical::ProcessShift(void)
{
	m_fDistanceTravelled = 0.0f;
	if(m_status == STATUS_SIMPLE){
		bIsStuck = false;
		bIsInSafePosition = true;
		RemoveAndAdd();
	}else{
		CMatrix matrix(GetMatrix());
		ApplyMoveSpeed();
		ApplyTurnSpeed();
		GetMatrix().Reorthogonalise();

		CWorld::AdvanceCurrentScanCode();

		if(IsVehicle())
			field_EF = true;

		CEntryInfoNode *node;
		bool hasshifted = false;	// whatever that means...
		for(node = m_entryInfoList.first; node; node = node->next)
			hasshifted |= ProcessShiftSectorList(node->sector->m_lists);
		field_EF = false;
		if(hasshifted){
			CWorld::AdvanceCurrentScanCode();
			for(node = m_entryInfoList.first; node; node = node->next)
				if(ProcessCollisionSectorList(node->sector->m_lists)){
					GetMatrix() = matrix;
					return;
				}
		}
		bIsStuck = false;
		bIsInSafePosition = true;
		m_fDistanceTravelled = (GetPosition() - *matrix.GetPosition()).Magnitude();
		RemoveAndAdd();
	}
}

// x is the number of units (m) we would like to step
#define NUMSTEPS(x) ceil(sqrt(distSq) * (1.0f/(x)))

void
CPhysical::ProcessCollision(void)
{
	int i;
	CPed *ped = (CPed*)this;

	m_fDistanceTravelled = 0.0f;
	field_EF = 0;
	m_phy_flagA80 = false;

	if(!bUsesCollision){
		bIsStuck = false;
		bIsInSafePosition = true;
		RemoveAndAdd();
		return;
	}

	if(m_status == STATUS_SIMPLE){
		if(CheckCollision_SimpleCar() && m_status == STATUS_SIMPLE){
			m_status = STATUS_PHYSICS;
			if(IsVehicle())
				CCarCtrl::SwitchVehicleToRealPhysics((CVehicle*)this);
		}
		bIsStuck = false;
		bIsInSafePosition = true;
		RemoveAndAdd();
		return;
	}

	// Save current state
	CMatrix savedMatrix(GetMatrix());
	float savedTimeStep = CTimer::GetTimeStep();

	int8 n = 1;	// The number of steps we divide the time step into
	float step = 0.0f;	// divided time step
	float distSq = GetDistanceSq();

	if(IsPed() && (distSq >= sq(0.2f) || ped->IsPlayer())){
		if(ped->IsPlayer())
			n = min(NUMSTEPS(0.2f), 2.0);
		else
			n = NUMSTEPS(0.3f);
		step = savedTimeStep / n;
	}else if(IsVehicle() && distSq >= sq(0.4f)){
		if(m_status == STATUS_PLAYER)
			n = NUMSTEPS(0.2f);
		else
			n = distSq > 0.32f ? NUMSTEPS(0.3f) : NUMSTEPS(0.4f);
		step = savedTimeStep / n;
	}else if(IsObject()){
		int responsecase = ((CObject*)this)->m_bSpecialCollisionResponseCases;
		if(responsecase == 1){
			CVector speedUp = { 0.0f, 0.0f, 0.0f };
			CVector speedDown = { 0.0f, 0.0f, 0.0f };
			speedUp.z = GetBoundRadius();
			speedDown.z = -speedUp.z;
			speedUp = Multiply3x3(GetMatrix(), speedUp);
			speedDown = Multiply3x3(GetMatrix(), speedDown);
			speedUp = GetSpeed(speedUp);
			speedDown = GetSpeed(speedDown);
			distSq = max(speedUp.MagnitudeSqr(), speedDown.MagnitudeSqr()) * sq(CTimer::GetTimeStep());
			if(distSq >= sq(0.3f)){
				n = NUMSTEPS(0.3f);
				step = savedTimeStep / n;
			}
		}else if(responsecase == 5){
			if(distSq >= 0.009f){
				n = NUMSTEPS(0.09f);
				step = savedTimeStep / n;
			}
		}else if(responsecase == 2 || responsecase == 4){
			if(distSq >= sq(0.15f)){
				n = NUMSTEPS(0.15f);
				step = savedTimeStep / n;
			}
		}else{
			if(distSq >= sq(0.3f)){
				n = NUMSTEPS(0.3f);
				step = savedTimeStep / n;
			}
		}
	}

	for(i = 1; i < n; i++){
		CTimer::SetTimeStep(i * step);
		ApplyMoveSpeed();
		ApplyTurnSpeed();
		// TODO: get rid of copy paste?
		if(CheckCollision()){
			if(IsPed() && m_vecMoveSpeed.z == 0.0f &&
			   !ped->m_ped_flagA2 &&
			   ped->m_ped_flagA1)
				savedMatrix.GetPosition()->z = GetPosition().z;
			GetMatrix() = savedMatrix;
			CTimer::SetTimeStep(savedTimeStep);
			return;
		}
		if(IsPed() && m_vecMoveSpeed.z == 0.0f &&
		   !ped->m_ped_flagA2 &&
		   ped->m_ped_flagA1)
			savedMatrix.GetPosition()->z = GetPosition().z;
		GetMatrix() = savedMatrix;
		CTimer::SetTimeStep(savedTimeStep);
		if(IsVehicle()){
			CVehicle *veh = (CVehicle*)this;
			if(veh->m_vehType == VEHICLE_TYPE_CAR){
				CAutomobile *car = (CAutomobile*)this;
				car->m_afWheelSuspDist[0] = 1.0f;
				car->m_afWheelSuspDist[1] = 1.0f;
				car->m_afWheelSuspDist[2] = 1.0f;
				car->m_afWheelSuspDist[3] = 1.0f;
			}else if(veh->m_vehType == VEHICLE_TYPE_BIKE){
				assert(0 && "TODO - but unused");
			}
		}
	}
	
	ApplyMoveSpeed();
	ApplyTurnSpeed();
	GetMatrix().Reorthogonalise();
	field_EF = 0;
	m_phy_flagA80 = false;
	if(!m_vecMoveSpeed.IsZero() ||
	   !m_vecTurnSpeed.IsZero() ||
	   bHitByTrain ||
	   m_status == STATUS_PLAYER || IsPed() && ped->IsPlayer()){
		if(IsVehicle())
			((CVehicle*)this)->m_veh_flagD4 = true;
		if(CheckCollision()){
			GetMatrix() = savedMatrix;
			return;
		}
	}
	bHitByTrain = false;
	m_fDistanceTravelled = (GetPosition() - *savedMatrix.GetPosition()).Magnitude();
	m_phy_flagA80 = false;

	bIsStuck = false;
	bIsInSafePosition = true;
	RemoveAndAdd();
}


STARTPATCHES
	InjectHook(0x4951F0, &CPhysical::Add_, PATCH_JUMP);
	InjectHook(0x4954B0, &CPhysical::Remove_, PATCH_JUMP);
	InjectHook(0x495540, &CPhysical::RemoveAndAdd, PATCH_JUMP);
	InjectHook(0x495F10, &CPhysical::ProcessControl_, PATCH_JUMP);
	InjectHook(0x496F10, &CPhysical::ProcessShift_, PATCH_JUMP);
	InjectHook(0x4961A0, &CPhysical::ProcessCollision_, PATCH_JUMP);
	InjectHook(0x49F790, &CPhysical::ProcessEntityCollision_, PATCH_JUMP);
	InjectHook(0x4958F0, &CPhysical::AddToMovingList, PATCH_JUMP);
	InjectHook(0x495940, &CPhysical::RemoveFromMovingList, PATCH_JUMP);
	InjectHook(0x497180, &CPhysical::AddCollisionRecord, PATCH_JUMP);
	InjectHook(0x4970C0, &CPhysical::AddCollisionRecord_Treadable, PATCH_JUMP);
	InjectHook(0x497240, &CPhysical::GetHasCollidedWith, PATCH_JUMP);
	InjectHook(0x49F820, &CPhysical::RemoveRefsToEntity, PATCH_JUMP);

#define F3 float, float, float
	InjectHook(0x495B10, &CPhysical::ApplyMoveSpeed, PATCH_JUMP);
	InjectHook(0x497280, &CPhysical::ApplyTurnSpeed, PATCH_JUMP);
	InjectHook(0x4959A0, (void (CPhysical::*)(F3))&CPhysical::ApplyMoveForce, PATCH_JUMP);
	InjectHook(0x495A10, (void (CPhysical::*)(F3, F3))&CPhysical::ApplyTurnForce, PATCH_JUMP);
	InjectHook(0x495D90, (void (CPhysical::*)(F3))&CPhysical::ApplyFrictionMoveForce, PATCH_JUMP);
	InjectHook(0x495E10, (void (CPhysical::*)(F3, F3))&CPhysical::ApplyFrictionTurnForce, PATCH_JUMP);
	InjectHook(0x499890, &CPhysical::ApplySpringCollision, PATCH_JUMP);
	InjectHook(0x495B50, &CPhysical::ApplyGravity, PATCH_JUMP);
	InjectHook(0x495B80, (void (CPhysical::*)(void))&CPhysical::ApplyFriction, PATCH_JUMP);
	InjectHook(0x495C20, &CPhysical::ApplyAirResistance, PATCH_JUMP);

	InjectHook(0x4973A0, &CPhysical::ApplyCollision, PATCH_JUMP);
	InjectHook(0x4992A0, &CPhysical::ApplyCollisionAlt, PATCH_JUMP);
	InjectHook(0x499BE0, (bool (CPhysical::*)(float, CColPoint&))&CPhysical::ApplyFriction, PATCH_JUMP);
	InjectHook(0x49A180, (bool (CPhysical::*)(CPhysical*, float, CColPoint&))&CPhysical::ApplyFriction, PATCH_JUMP);

	InjectHook(0x49DA10, &CPhysical::ProcessShiftSectorList, PATCH_JUMP);
	InjectHook(0x49E790, &CPhysical::ProcessCollisionSectorList_SimpleCar, PATCH_JUMP);
	InjectHook(0x49B620, &CPhysical::ProcessCollisionSectorList, PATCH_JUMP);
	InjectHook(0x496E50, &CPhysical::CheckCollision, PATCH_JUMP);
	InjectHook(0x496EB0, &CPhysical::CheckCollision_SimpleCar, PATCH_JUMP);
ENDPATCHES