511 lines
14 KiB
C++
511 lines
14 KiB
C++
// Copyright (C) 2013 Jérôme Leclercq
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// This file is part of the "Nazara Engine - Mathematics module"
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// For conditions of distribution and use, see copyright notice in Config.hpp
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// Sources:
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// http://www.crownandcutlass.com/features/technicaldetails/frustum.html
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// http://www.lighthouse3d.com/tutorials/view-frustum-culling/
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#include <Nazara/Core/StringStream.hpp>
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#include <Nazara/Math/Basic.hpp>
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#include <cstring>
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#include <Nazara/Core/Debug.hpp>
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#define F(a) static_cast<T>(a)
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template<typename T>
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template<typename U>
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NzFrustum<T>::NzFrustum(const NzFrustum<U>& frustum)
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{
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Set(frustum);
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}
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template<typename T>
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NzFrustum<T>& NzFrustum<T>::Build(T angle, T ratio, T zNear, T zFar, const NzVector3<T>& eye, const NzVector3<T>& target, const NzVector3<T>& up)
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{
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#if NAZARA_MATH_ANGLE_RADIAN
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angle *= F(0.5);
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#else
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angle = NzDegreeToRadian(angle * F(0.5));
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#endif
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T tangent = std::tan(angle);
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T nearH = zNear * tangent;
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T nearW = nearH * ratio;
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T farH = zFar * tangent;
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T farW = farH * ratio;
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NzVector3<T> f = NzVector3<T>::Normalize(target - eye);
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NzVector3<T> u(up.GetNormal());
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NzVector3<T> s = NzVector3<T>::Normalize(f.CrossProduct(u));
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u = s.CrossProduct(f);
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NzVector3<T> nc = eye + f * zNear;
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NzVector3<T> fc = eye + f * zFar;
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// Calcul du frustum
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m_corners[nzCorner_FarLeftBottom] = fc - u*farH - s*farW;
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m_corners[nzCorner_FarLeftTop] = fc + u*farH - s*farW;
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m_corners[nzCorner_FarRightTop] = fc + u*farH + s*farW;
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m_corners[nzCorner_FarRightBottom] = fc - u*farH + s*farW;
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m_corners[nzCorner_NearLeftBottom] = nc - u*nearH - s*nearW;
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m_corners[nzCorner_NearLeftTop] = nc + u*nearH - s*nearW;
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m_corners[nzCorner_NearRightTop] = nc + u*nearH + s*nearW;
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m_corners[nzCorner_NearRightBottom] = nc - u*nearH + s*nearW;
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// Construction des plans du frustum
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m_planes[nzFrustumPlane_Bottom].Set(m_corners[nzCorner_NearLeftBottom], m_corners[nzCorner_NearRightBottom], m_corners[nzCorner_FarRightBottom]);
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m_planes[nzFrustumPlane_Far].Set(m_corners[nzCorner_FarRightTop], m_corners[nzCorner_FarLeftTop], m_corners[nzCorner_FarLeftBottom]);
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m_planes[nzFrustumPlane_Left].Set(m_corners[nzCorner_NearLeftTop], m_corners[nzCorner_NearLeftBottom], m_corners[nzCorner_FarLeftBottom]);
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m_planes[nzFrustumPlane_Near].Set(m_corners[nzCorner_NearLeftTop], m_corners[nzCorner_NearRightTop], m_corners[nzCorner_NearRightBottom]);
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m_planes[nzFrustumPlane_Right].Set(m_corners[nzCorner_NearRightBottom], m_corners[nzCorner_NearRightTop], m_corners[nzCorner_FarRightBottom]);
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m_planes[nzFrustumPlane_Top].Set(m_corners[nzCorner_NearRightTop], m_corners[nzCorner_NearLeftTop], m_corners[nzCorner_FarLeftTop]);
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return *this;
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}
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template<typename T>
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bool NzFrustum<T>::Contains(const NzBoundingVolume<T>& volume) const
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{
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switch (volume.extend)
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{
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case nzExtend_Finite:
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{
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nzIntersectionSide side = Intersect(volume.aabb);
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switch (side)
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{
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case nzIntersectionSide_Inside:
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return true;
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case nzIntersectionSide_Intersecting:
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return Contains(volume.obb);
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case nzIntersectionSide_Outside:
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return false;
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}
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NazaraError("Invalid intersection side (0x" + NzString::Number(side, 16) + ')');
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return false;
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}
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case nzExtend_Infinite:
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return true;
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case nzExtend_Null:
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return false;
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}
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NazaraError("Invalid extend type (0x" + NzString::Number(volume.extend, 16) + ')');
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return false;
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}
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template<typename T>
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bool NzFrustum<T>::Contains(const NzBox<T>& box) const
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{
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// http://www.lighthouse3d.com/tutorials/view-frustum-culling/geometric-approach-testing-boxes-ii/
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for(unsigned int i = 0; i <= nzFrustumPlane_Max; i++)
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{
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if (m_planes[i].Distance(box.GetPositiveVertex(m_planes[i].normal)) < F(0.0))
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return false;
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}
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return true;
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}
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template<typename T>
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bool NzFrustum<T>::Contains(const NzOrientedBox<T>& orientedbox) const
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{
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return Contains(&orientedbox[0], 8);
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}
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template<typename T>
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bool NzFrustum<T>::Contains(const NzSphere<T>& sphere) const
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{
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for(unsigned int i = 0; i <= nzFrustumPlane_Max; i++)
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{
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if (m_planes[i].Distance(sphere.GetPosition()) < -sphere.radius)
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return false;
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}
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return true;
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}
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template<typename T>
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bool NzFrustum<T>::Contains(const NzVector3<T>& point) const
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{
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for(unsigned int i = 0; i <= nzFrustumPlane_Max; ++i)
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{
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if (m_planes[i].Distance(point) < F(0.0))
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return false;
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}
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return true;
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}
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template<typename T>
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bool NzFrustum<T>::Contains(const NzVector3<T>* points, unsigned int pointCount) const
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{
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for (unsigned int i = 0; i <= nzFrustumPlane_Max; ++i)
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{
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unsigned int j;
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for (j = 0; j < pointCount; j++ )
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{
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if (m_planes[i].Distance(points[j]) > F(0.0))
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break;
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}
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if (j == pointCount)
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return false;
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}
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return true;
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}
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template<typename T>
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NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& clipMatrix)
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{
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// http://www.crownandcutlass.com/features/technicaldetails/frustum.html
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T plane[4];
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T invLength;
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// Extract the numbers for the RIGHT plane
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plane[0] = clipMatrix[ 3] - clipMatrix[ 0];
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plane[1] = clipMatrix[ 7] - clipMatrix[ 4];
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plane[2] = clipMatrix[11] - clipMatrix[ 8];
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plane[3] = clipMatrix[15] - clipMatrix[12];
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// Normalize the result
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invLength = F(1.0) / std::sqrt(plane[0]*plane[0] + plane[1]*plane[1] + plane[2]*plane[2]);
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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m_planes[nzFrustumPlane_Right].Set(plane);
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// Extract the numbers for the LEFT plane
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plane[0] = clipMatrix[ 3] + clipMatrix[ 0];
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plane[1] = clipMatrix[ 7] + clipMatrix[ 4];
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plane[2] = clipMatrix[11] + clipMatrix[ 8];
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plane[3] = clipMatrix[15] + clipMatrix[12];
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// Normalize the result
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invLength = F(1.0) / std::sqrt(plane[0]*plane[0] + plane[1]*plane[1] + plane[2]*plane[2]);
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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m_planes[nzFrustumPlane_Left].Set(plane);
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// Extract the BOTTOM plane
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plane[0] = clipMatrix[ 3] + clipMatrix[ 1];
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plane[1] = clipMatrix[ 7] + clipMatrix[ 5];
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plane[2] = clipMatrix[11] + clipMatrix[ 9];
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plane[3] = clipMatrix[15] + clipMatrix[13];
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// Normalize the result
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invLength = F(1.0) / std::sqrt(plane[0]*plane[0] + plane[1]*plane[1] + plane[2]*plane[2]);
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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m_planes[nzFrustumPlane_Bottom].Set(plane);
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// Extract the TOP plane
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plane[0] = clipMatrix[ 3] - clipMatrix[ 1];
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plane[1] = clipMatrix[ 7] - clipMatrix[ 5];
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plane[2] = clipMatrix[11] - clipMatrix[ 9];
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plane[3] = clipMatrix[15] - clipMatrix[13];
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// Normalize the result
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invLength = F(1.0) / std::sqrt(plane[0]*plane[0] + plane[1]*plane[1] + plane[2]*plane[2]);
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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m_planes[nzFrustumPlane_Top].Set(plane);
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// Extract the FAR plane
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plane[0] = clipMatrix[ 3] - clipMatrix[ 2];
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plane[1] = clipMatrix[ 7] - clipMatrix[ 6];
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plane[2] = clipMatrix[11] - clipMatrix[10];
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plane[3] = clipMatrix[15] - clipMatrix[14];
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// Normalize the result
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invLength = F(1.0) / std::sqrt(plane[0]*plane[0] + plane[1]*plane[1] + plane[2]*plane[2]);
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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m_planes[nzFrustumPlane_Far].Set(plane);
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// Extract the NEAR plane
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plane[0] = clipMatrix[ 3] + clipMatrix[ 2];
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plane[1] = clipMatrix[ 7] + clipMatrix[ 6];
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plane[2] = clipMatrix[11] + clipMatrix[10];
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plane[3] = clipMatrix[15] + clipMatrix[14];
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// Normalize the result
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invLength = F(1.0) / std::sqrt(plane[0]*plane[0] + plane[1]*plane[1] + plane[2]*plane[2]);
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plane[0] *= invLength;
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plane[1] *= invLength;
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plane[2] *= invLength;
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plane[3] *= invLength;
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m_planes[nzFrustumPlane_Near].Set(plane);
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// Une fois les plans extraits, il faut extraire les points du frustum
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// Je me base sur cette page: http://www.gamedev.net/topic/393309-calculating-the-view-frustums-vertices/
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NzMatrix4f invClipMatrix;
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clipMatrix.GetInverse(&invClipMatrix);
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NzVector4f corner;
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// FarLeftBottom
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corner.Set(F(-1.0), F(-1.0), F(1.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_FarLeftBottom] = NzVector3<T>(corner.x, corner.y, corner.z);
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// FarLeftTop
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corner.Set(F(-1.0), F(1.0), F(1.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_FarLeftTop] = NzVector3<T>(corner.x, corner.y, corner.z);
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// FarRightBottom
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corner.Set(F(1.0), F(-1.0), F(1.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_FarRightBottom] = NzVector3<T>(corner.x, corner.y, corner.z);
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// FarRightTop
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corner.Set(F(1.0), F(1.0), F(1.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_FarRightTop] = NzVector3<T>(corner.x, corner.y, corner.z);
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// NearLeftBottom
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corner.Set(F(-1.0), F(-1.0), F(0.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_NearLeftBottom] = NzVector3<T>(corner.x, corner.y, corner.z);
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// NearLeftTop
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corner.Set(F(-1.0), F(1.0), F(0.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_NearLeftTop] = NzVector3<T>(corner.x, corner.y, corner.z);
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// NearRightBottom
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corner.Set(F(1.0), F(-1.0), F(0.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_NearRightBottom] = NzVector3<T>(corner.x, corner.y, corner.z);
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// NearRightTop
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corner.Set(F(1.0), F(1.0), F(0.0));
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corner = invClipMatrix.Transform(corner);
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corner.Normalize();
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m_corners[nzCorner_NearRightTop] = NzVector3<T>(corner.x, corner.y, corner.z);
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return *this;
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}
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template<typename T>
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NzFrustum<T>& NzFrustum<T>::Extract(const NzMatrix4<T>& view, const NzMatrix4<T>& projection)
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{
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NzMatrix4f clipMatrix(view);
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clipMatrix *= projection;
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return Extract(clipMatrix);
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}
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template<typename T>
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const NzVector3<T>& NzFrustum<T>::GetCorner(nzCorner corner) const
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{
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#ifdef NAZARA_DEBUG
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if (corner > nzCorner_Max)
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{
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NazaraError("Corner not handled (0x" + NzString::Number(corner, 16) + ')');
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static NzVector3<T> dummy;
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return dummy;
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}
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#endif
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return m_corners[corner];
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}
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template<typename T>
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const NzPlane<T>& NzFrustum<T>::GetPlane(nzFrustumPlane plane) const
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{
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#ifdef NAZARA_DEBUG
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if (plane > nzFrustumPlane_Max)
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{
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NazaraError("Frustum plane not handled (0x" + NzString::Number(plane, 16) + ')');
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static NzPlane<T> dummy;
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return dummy;
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}
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#endif
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return m_planes[plane];
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}
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template<typename T>
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nzIntersectionSide NzFrustum<T>::Intersect(const NzBoundingVolume<T>& volume) const
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{
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switch (volume.extend)
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{
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case nzExtend_Finite:
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{
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nzIntersectionSide side = Intersect(volume.aabb);
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switch (side)
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{
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case nzIntersectionSide_Inside:
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return nzIntersectionSide_Inside;
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case nzIntersectionSide_Intersecting:
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return Intersect(volume.obb);
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case nzIntersectionSide_Outside:
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return nzIntersectionSide_Outside;
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}
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NazaraError("Invalid intersection side (0x" + NzString::Number(side, 16) + ')');
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return false;
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}
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case nzExtend_Infinite:
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return nzIntersectionSide_Intersecting; // On ne peut pas contenir l'infini
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case nzExtend_Null:
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return nzIntersectionSide_Outside;
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}
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NazaraError("Invalid extend type (0x" + NzString::Number(volume.extend, 16) + ')');
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return nzIntersectionSide_Outside;
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}
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template<typename T>
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nzIntersectionSide NzFrustum<T>::Intersect(const NzBox<T>& box) const
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{
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// http://www.lighthouse3d.com/tutorials/view-frustum-culling/geometric-approach-testing-boxes-ii/
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nzIntersectionSide side = nzIntersectionSide_Inside;
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for(unsigned int i = 0; i <= nzFrustumPlane_Max; i++)
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{
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if (m_planes[i].Distance(box.GetPositiveVertex(m_planes[i].normal)) < F(0.0))
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return nzIntersectionSide_Outside;
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else if (m_planes[i].Distance(box.GetNegativeVertex(m_planes[i].normal)) < F(0.0))
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side = nzIntersectionSide_Intersecting;
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}
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return side;
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}
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template<typename T>
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nzIntersectionSide NzFrustum<T>::Intersect(const NzOrientedBox<T>& orientedbox) const
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{
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return Intersect(&orientedbox[0], 8);
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}
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template<typename T>
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nzIntersectionSide NzFrustum<T>::Intersect(const NzSphere<T>& sphere) const
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{
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// http://www.lighthouse3d.com/tutorials/view-frustum-culling/geometric-approach-testing-points-and-spheres/
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nzIntersectionSide side = nzIntersectionSide_Inside;
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for(unsigned int i = 0; i <= nzFrustumPlane_Max; i++)
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{
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T distance = m_planes[i].Distance(sphere.GetPosition());
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if (distance < -sphere.radius)
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return nzIntersectionSide_Outside;
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else if (distance < sphere.radius)
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side = nzIntersectionSide_Intersecting;
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}
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return side;
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}
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template<typename T>
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nzIntersectionSide NzFrustum<T>::Intersect(const NzVector3<T>* points, unsigned int pointCount) const
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{
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unsigned int c = 0;
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for (unsigned int i = 0; i <= nzFrustumPlane_Max; ++i)
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{
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unsigned int j;
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for (j = 0; j < pointCount; j++ )
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{
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if (m_planes[i].Distance(points[j]) > F(0.0))
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break;
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}
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if (j == pointCount)
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return nzIntersectionSide_Outside;
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else
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c++;
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}
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return (c == 6) ? nzIntersectionSide_Inside : nzIntersectionSide_Intersecting;
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}
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template<typename T>
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NzFrustum<T>& NzFrustum<T>::Set(const NzFrustum& frustum)
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{
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std::memcpy(this, &frustum, sizeof(NzFrustum));
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return *this;
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}
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template<typename T>
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template<typename U>
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NzFrustum<T>& NzFrustum<T>::Set(const NzFrustum<U>& frustum)
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{
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for (unsigned int i = 0; i <= nzCorner_Max; ++i)
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m_corners[i].Set(frustum.m_corners[i]);
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for (unsigned int i = 0; i <= nzFrustumPlane_Max; ++i)
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m_planes[i].Set(frustum.m_planes[i]);
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return *this;
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}
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template<typename T>
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NzString NzFrustum<T>::ToString() const
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{
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NzStringStream ss;
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return ss << "Frustum(Bottom: " << m_planes[nzFrustumPlane_Bottom].ToString() << "\n"
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<< " Far: " << m_planes[nzFrustumPlane_Far].ToString() << "\n"
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<< " Left: " << m_planes[nzFrustumPlane_Left].ToString() << "\n"
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<< " Near: " << m_planes[nzFrustumPlane_Near].ToString() << "\n"
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<< " Right: " << m_planes[nzFrustumPlane_Right].ToString() << "\n"
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<< " Top: " << m_planes[nzFrustumPlane_Top].ToString() << ")\n";
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}
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template<typename T>
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std::ostream& operator<<(std::ostream& out, const NzFrustum<T>& frustum)
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{
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return out << frustum.ToString();
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}
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#undef F
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#include <Nazara/Core/DebugOff.hpp>
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