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427 lines
19 KiB
C++
427 lines
19 KiB
C++
//
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// ViewFrustum.cpp
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// hifi
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//
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// Created by Brad Hefta-Gaub on 04/11/13.
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//
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// Simple view frustum class.
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//
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//
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#include <algorithm>
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#include <glm/gtx/transform.hpp>
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#include "ViewFrustum.h"
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#include "VoxelConstants.h"
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#include "SharedUtil.h"
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#include "Log.h"
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using namespace std;
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ViewFrustum::ViewFrustum() :
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_position(0,0,0),
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_orientation(),
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_direction(0,0,0),
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_up(0,0,0),
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_right(0,0,0),
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_fieldOfView(0.0),
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_aspectRatio(1.0),
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_nearClip(0.1),
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_farClip(500.0),
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_keyholeRadius(DEFAULT_KEYHOLE_RADIUS),
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_farTopLeft(0,0,0),
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_farTopRight(0,0,0),
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_farBottomLeft(0,0,0),
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_farBottomRight(0,0,0),
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_nearTopLeft(0,0,0),
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_nearTopRight(0,0,0),
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_nearBottomLeft(0,0,0),
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_nearBottomRight(0,0,0)
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{
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}
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void ViewFrustum::setOrientation(const glm::quat& orientationAsQuaternion) {
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_orientation = orientationAsQuaternion;
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_right = glm::vec3(orientationAsQuaternion * glm::vec4(IDENTITY_RIGHT, 0.0f));
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_up = glm::vec3(orientationAsQuaternion * glm::vec4(IDENTITY_UP, 0.0f));
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_direction = glm::vec3(orientationAsQuaternion * glm::vec4(IDENTITY_FRONT, 0.0f));
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}
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/////////////////////////////////////////////////////////////////////////////////////
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// ViewFrustum::calculateViewFrustum()
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//
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// Description: this will calculate the view frustum bounds for a given position
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// and direction
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//
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// Notes on how/why this works:
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// http://www.lighthouse3d.com/tutorials/view-frustum-culling/view-frustums-shape/
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//
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void ViewFrustum::calculate() {
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// compute the off-axis frustum parameters as we would for glFrustum
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float left, right, bottom, top, nearVal, farVal;
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glm::vec4 nearClipPlane, farClipPlane;
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computeOffAxisFrustum(left, right, bottom, top, nearVal, farVal, nearClipPlane, farClipPlane);
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// start with the corners of the near frustum window
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glm::vec3 topLeft(left, top, -nearVal);
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glm::vec3 topRight(right, top, -nearVal);
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glm::vec3 bottomLeft(left, bottom, -nearVal);
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glm::vec3 bottomRight(right, bottom, -nearVal);
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// find the intersections of the rays through the corners with the clip planes in view space,
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// then transform them to world space
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glm::mat4 worldMatrix = glm::translate(_position) * glm::mat4(glm::mat3(_right, _up, -_direction)) *
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glm::translate(_eyeOffsetPosition) * glm::mat4_cast(_eyeOffsetOrientation);
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_farTopLeft = glm::vec3(worldMatrix * glm::vec4(topLeft *
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(-farClipPlane.w / glm::dot(topLeft, glm::vec3(farClipPlane))), 1.0f));
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_farTopRight = glm::vec3(worldMatrix * glm::vec4(topRight *
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(-farClipPlane.w / glm::dot(topRight, glm::vec3(farClipPlane))), 1.0f));
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_farBottomLeft = glm::vec3(worldMatrix * glm::vec4(bottomLeft *
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(-farClipPlane.w / glm::dot(bottomLeft, glm::vec3(farClipPlane))), 1.0f));
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_farBottomRight = glm::vec3(worldMatrix * glm::vec4(bottomRight *
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(-farClipPlane.w / glm::dot(bottomRight, glm::vec3(farClipPlane))), 1.0f));
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_nearTopLeft = glm::vec3(worldMatrix * glm::vec4(topLeft *
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(-nearClipPlane.w / glm::dot(topLeft, glm::vec3(nearClipPlane))), 1.0f));
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_nearTopRight = glm::vec3(worldMatrix * glm::vec4(topRight *
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(-nearClipPlane.w / glm::dot(topRight, glm::vec3(nearClipPlane))), 1.0f));
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_nearBottomLeft = glm::vec3(worldMatrix * glm::vec4(bottomLeft *
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(-nearClipPlane.w / glm::dot(bottomLeft, glm::vec3(nearClipPlane))), 1.0f));
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_nearBottomRight = glm::vec3(worldMatrix * glm::vec4(bottomRight *
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(-nearClipPlane.w / glm::dot(bottomRight, glm::vec3(nearClipPlane))), 1.0f));
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// compute the offset position and axes in world space
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_offsetPosition = glm::vec3(worldMatrix * glm::vec4(0.0f, 0.0f, 0.0f, 1.0f));
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_offsetDirection = glm::vec3(worldMatrix * glm::vec4(0.0f, 0.0f, -1.0f, 0.0f));
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_offsetUp = glm::vec3(worldMatrix * glm::vec4(0.0f, 1.0f, 0.0f, 0.0f));
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_offsetRight = glm::vec3(worldMatrix * glm::vec4(1.0f, 0.0f, 0.0f, 0.0f));
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// compute the six planes
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// The planes are defined such that the normal points towards the inside of the view frustum.
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// Testing if an object is inside the view frustum is performed by computing on which side of
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// the plane the object resides. This can be done computing the signed distance from the point
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// to the plane. If it is on the side that the normal is pointing, i.e. the signed distance
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// is positive, then it is on the right side of the respective plane. If an object is on the
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// right side of all six planes then the object is inside the frustum.
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// the function set3Points assumes that the points are given in counter clockwise order, assume you
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// are inside the frustum, facing the plane. Start with any point, and go counter clockwise for
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// three consecutive points
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_planes[TOP_PLANE ].set3Points(_nearTopRight,_nearTopLeft,_farTopLeft);
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_planes[BOTTOM_PLANE].set3Points(_nearBottomLeft,_nearBottomRight,_farBottomRight);
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_planes[LEFT_PLANE ].set3Points(_nearBottomLeft,_farBottomLeft,_farTopLeft);
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_planes[RIGHT_PLANE ].set3Points(_farBottomRight,_nearBottomRight,_nearTopRight);
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_planes[NEAR_PLANE ].set3Points(_nearBottomRight,_nearBottomLeft,_nearTopLeft);
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_planes[FAR_PLANE ].set3Points(_farBottomLeft,_farBottomRight,_farTopRight);
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}
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//enum { TOP_PLANE = 0, BOTTOM_PLANE, LEFT_PLANE, RIGHT_PLANE, NEAR_PLANE, FAR_PLANE };
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const char* ViewFrustum::debugPlaneName (int plane) const {
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switch (plane) {
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case TOP_PLANE: return "Top Plane";
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case BOTTOM_PLANE: return "Bottom Plane";
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case LEFT_PLANE: return "Left Plane";
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case RIGHT_PLANE: return "Right Plane";
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case NEAR_PLANE: return "Near Plane";
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case FAR_PLANE: return "Far Plane";
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}
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return "Unknown";
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}
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ViewFrustum::location ViewFrustum::pointInSphere(const glm::vec3& point, const glm::vec3& center, float radius ) const {
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ViewFrustum::location result = INTERSECT;
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float distance = glm::distance(point, center);
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if (distance > radius) {
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result = OUTSIDE;
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} else if (distance < radius) {
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result = INSIDE;
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}
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return result;
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}
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// To determine if two spheres intersect, simply calculate the distance between the centers of the two spheres.
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// If the distance is greater than the sum of the two sphere radii, they don’t intersect. Otherwise they intersect.
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// If the distance plus the radius of sphere A is less than the radius of sphere B then, sphere A is inside of sphere B
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ViewFrustum::location ViewFrustum::sphereInSphere(const glm::vec3& centerA, float radiusA,
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const glm::vec3& centerB, float radiusB ) const {
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ViewFrustum::location result = INTERSECT;
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float distanceFromAtoB = glm::distance(centerA, centerB);
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if (distanceFromAtoB > (radiusA + radiusB)) {
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result = OUTSIDE;
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} else if ((distanceFromAtoB + radiusA) < radiusB) {
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result = INSIDE;
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}
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return result;
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}
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// A box is inside a sphere if all of its corners are inside the sphere
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// A box intersects a sphere if any of its edges (as rays) interesect the sphere
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// A box is outside a sphere if none of its edges (as rays) interesect the sphere
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ViewFrustum::location ViewFrustum::boxInSphere(const AABox& box, const glm::vec3& center, float radius) const {
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glm::vec3 penetration;
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bool intersects = box.findSpherePenetration(center, radius, penetration);
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ViewFrustum::location result = OUTSIDE;
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// if the box intersects the sphere, then it may also be inside... calculate further
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if (intersects) {
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result = INTERSECT;
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// test all the corners, if they are all inside the sphere, the entire box is in the sphere
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glm::vec3 testPoint = box.getCorner();
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glm::vec3 size = box.getSize();
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if (pointInSphere(testPoint, center, radius)) {
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testPoint = box.getCorner() + glm::vec3(size.x, 0.0f, 0.0f);
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if (pointInSphere(testPoint, center, radius)) {
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testPoint = box.getCorner() + glm::vec3(0.0f, 0.0f, size.z);
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if (pointInSphere(testPoint, center, radius)) {
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testPoint = box.getCorner() + glm::vec3(size.x, 0.0f, size.z);
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if (pointInSphere(testPoint, center, radius)) {
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testPoint = box.getCorner() + glm::vec3(0.0f, size.y, 0.0f);
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if (pointInSphere(testPoint, center, radius)) {
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testPoint = box.getCorner() + glm::vec3(size.x, size.y, 0.0f);
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if (pointInSphere(testPoint, center, radius)) {
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testPoint = box.getCorner() + glm::vec3(0.0f, size.y, size.z);
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if (pointInSphere(testPoint, center, radius)) {
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testPoint = box.getCorner() + glm::vec3(size.x, size.y, size.z);
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if (pointInSphere(testPoint, center, radius)) {
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result = INSIDE;
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}
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}
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}
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}
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}
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}
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}
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}
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}
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return result;
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}
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ViewFrustum::location ViewFrustum::pointInFrustum(const glm::vec3& point) const {
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ViewFrustum::location regularResult = INSIDE;
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ViewFrustum::location keyholeResult = OUTSIDE;
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// If we have a keyholeRadius, check that first, since it's cheaper
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if (_keyholeRadius >= 0.0f) {
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keyholeResult = pointInSphere(point, _position, _keyholeRadius);
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}
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if (keyholeResult == INSIDE) {
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return keyholeResult;
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}
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// If we're not known to be INSIDE the keyhole, then check the regular frustum
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for(int i=0; i < 6; i++) {
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float distance = _planes[i].distance(point);
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if (distance < 0) {
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return keyholeResult; // escape early will be the value from checking the keyhole
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}
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}
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return regularResult;
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}
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ViewFrustum::location ViewFrustum::sphereInFrustum(const glm::vec3& center, float radius) const {
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ViewFrustum::location regularResult = INSIDE;
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ViewFrustum::location keyholeResult = OUTSIDE;
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// If we have a keyholeRadius, check that first, since it's cheaper
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if (_keyholeRadius >= 0.0f) {
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keyholeResult = sphereInSphere(center, radius, _position, _keyholeRadius);
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}
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if (keyholeResult == INSIDE) {
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return keyholeResult;
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}
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float distance;
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for(int i=0; i < 6; i++) {
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distance = _planes[i].distance(center);
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if (distance < -radius) {
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// This is outside the regular frustum, so just return the value from checking the keyhole
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return keyholeResult;
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} else if (distance < radius) {
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regularResult = INTERSECT;
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}
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}
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return regularResult;
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}
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ViewFrustum::location ViewFrustum::boxInFrustum(const AABox& box) const {
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ViewFrustum::location regularResult = INSIDE;
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ViewFrustum::location keyholeResult = OUTSIDE;
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// If we have a keyholeRadius, check that first, since it's cheaper
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if (_keyholeRadius >= 0.0f) {
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keyholeResult = boxInSphere(box, _position, _keyholeRadius);
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}
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if (keyholeResult == INSIDE) {
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return keyholeResult;
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}
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for(int i=0; i < 6; i++) {
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glm::vec3 normal = _planes[i].getNormal();
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glm::vec3 boxVertexP = box.getVertexP(normal);
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float planeToBoxVertexPDistance = _planes[i].distance(boxVertexP);
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glm::vec3 boxVertexN = box.getVertexN(normal);
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float planeToBoxVertexNDistance = _planes[i].distance(boxVertexN);
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if (planeToBoxVertexPDistance < 0) {
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// This is outside the regular frustum, so just return the value from checking the keyhole
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return keyholeResult;
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} else if (planeToBoxVertexNDistance < 0) {
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regularResult = INTERSECT;
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}
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}
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return regularResult;
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}
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bool testMatches(glm::quat lhs, glm::quat rhs) {
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return (fabs(lhs.x - rhs.x) <= EPSILON && fabs(lhs.y - rhs.y) <= EPSILON && fabs(lhs.z - rhs.z) <= EPSILON
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&& fabs(lhs.w - rhs.w) <= EPSILON);
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}
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bool testMatches(glm::vec3 lhs, glm::vec3 rhs) {
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return (fabs(lhs.x - rhs.x) <= EPSILON && fabs(lhs.y - rhs.y) <= EPSILON && fabs(lhs.z - rhs.z) <= EPSILON);
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}
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bool testMatches(float lhs, float rhs) {
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return (fabs(lhs - rhs) <= EPSILON);
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}
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bool ViewFrustum::matches(const ViewFrustum& compareTo, bool debug) const {
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bool result =
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testMatches(compareTo._position, _position ) &&
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testMatches(compareTo._direction, _direction ) &&
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testMatches(compareTo._up, _up ) &&
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testMatches(compareTo._right, _right ) &&
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testMatches(compareTo._fieldOfView, _fieldOfView ) &&
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testMatches(compareTo._aspectRatio, _aspectRatio ) &&
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testMatches(compareTo._nearClip, _nearClip ) &&
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testMatches(compareTo._farClip, _farClip ) &&
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testMatches(compareTo._eyeOffsetPosition, _eyeOffsetPosition ) &&
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testMatches(compareTo._eyeOffsetOrientation, _eyeOffsetOrientation);
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if (!result && debug) {
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printLog("ViewFrustum::matches()... result=%s\n", debug::valueOf(result));
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printLog("%s -- compareTo._position=%f,%f,%f _position=%f,%f,%f\n",
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(testMatches(compareTo._position,_position) ? "MATCHES " : "NO MATCH"),
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compareTo._position.x, compareTo._position.y, compareTo._position.z,
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_position.x, _position.y, _position.z );
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printLog("%s -- compareTo._direction=%f,%f,%f _direction=%f,%f,%f\n",
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(testMatches(compareTo._direction, _direction) ? "MATCHES " : "NO MATCH"),
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compareTo._direction.x, compareTo._direction.y, compareTo._direction.z,
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_direction.x, _direction.y, _direction.z );
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printLog("%s -- compareTo._up=%f,%f,%f _up=%f,%f,%f\n",
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(testMatches(compareTo._up, _up) ? "MATCHES " : "NO MATCH"),
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compareTo._up.x, compareTo._up.y, compareTo._up.z,
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_up.x, _up.y, _up.z );
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printLog("%s -- compareTo._right=%f,%f,%f _right=%f,%f,%f\n",
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(testMatches(compareTo._right, _right) ? "MATCHES " : "NO MATCH"),
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compareTo._right.x, compareTo._right.y, compareTo._right.z,
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_right.x, _right.y, _right.z );
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printLog("%s -- compareTo._fieldOfView=%f _fieldOfView=%f\n",
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(testMatches(compareTo._fieldOfView, _fieldOfView) ? "MATCHES " : "NO MATCH"),
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compareTo._fieldOfView, _fieldOfView);
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printLog("%s -- compareTo._aspectRatio=%f _aspectRatio=%f\n",
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(testMatches(compareTo._aspectRatio, _aspectRatio) ? "MATCHES " : "NO MATCH"),
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compareTo._aspectRatio, _aspectRatio);
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printLog("%s -- compareTo._nearClip=%f _nearClip=%f\n",
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(testMatches(compareTo._nearClip, _nearClip) ? "MATCHES " : "NO MATCH"),
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compareTo._nearClip, _nearClip);
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printLog("%s -- compareTo._farClip=%f _farClip=%f\n",
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(testMatches(compareTo._farClip, _farClip) ? "MATCHES " : "NO MATCH"),
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compareTo._farClip, _farClip);
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printLog("%s -- compareTo._eyeOffsetPosition=%f,%f,%f _eyeOffsetPosition=%f,%f,%f\n",
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(testMatches(compareTo._eyeOffsetPosition, _eyeOffsetPosition) ? "MATCHES " : "NO MATCH"),
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compareTo._eyeOffsetPosition.x, compareTo._eyeOffsetPosition.y, compareTo._eyeOffsetPosition.z,
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_eyeOffsetPosition.x, _eyeOffsetPosition.y, _eyeOffsetPosition.z);
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printLog("%s -- compareTo._eyeOffsetOrientation=%f,%f,%f,%f _eyeOffsetOrientation=%f,%f,%f,%f\n",
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(testMatches(compareTo._eyeOffsetOrientation, _eyeOffsetOrientation) ? "MATCHES " : "NO MATCH"),
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compareTo._eyeOffsetOrientation.x, compareTo._eyeOffsetOrientation.y,
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compareTo._eyeOffsetOrientation.z, compareTo._eyeOffsetOrientation.w,
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_eyeOffsetOrientation.x, _eyeOffsetOrientation.y, _eyeOffsetOrientation.z, _eyeOffsetOrientation.w);
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}
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return result;
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}
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void ViewFrustum::computePickRay(float x, float y, glm::vec3& origin, glm::vec3& direction) const {
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origin = _nearTopLeft + x*(_nearTopRight - _nearTopLeft) + y*(_nearBottomLeft - _nearTopLeft);
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direction = glm::normalize(origin - _position);
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}
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void ViewFrustum::computeOffAxisFrustum(float& left, float& right, float& bottom, float& top, float& near, float& far,
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glm::vec4& nearClipPlane, glm::vec4& farClipPlane) const {
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// compute our dimensions the usual way
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float hheight = _nearClip * tanf(_fieldOfView * 0.5f * PI_OVER_180);
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float hwidth = _aspectRatio * hheight;
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// get our frustum corners in view space
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glm::mat4 eyeMatrix = glm::mat4_cast(glm::inverse(_eyeOffsetOrientation)) * glm::translate(-_eyeOffsetPosition);
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glm::vec4 corners[8];
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float farScale = _farClip / _nearClip;
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corners[0] = eyeMatrix * glm::vec4(-hwidth, -hheight, -_nearClip, 1.0f);
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corners[1] = eyeMatrix * glm::vec4(hwidth, -hheight, -_nearClip, 1.0f);
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corners[2] = eyeMatrix * glm::vec4(hwidth, hheight, -_nearClip, 1.0f);
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corners[3] = eyeMatrix * glm::vec4(-hwidth, hheight, -_nearClip, 1.0f);
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corners[4] = eyeMatrix * glm::vec4(-hwidth * farScale, -hheight * farScale, -_farClip, 1.0f);
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corners[5] = eyeMatrix * glm::vec4(hwidth * farScale, -hheight * farScale, -_farClip, 1.0f);
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corners[6] = eyeMatrix * glm::vec4(hwidth * farScale, hheight * farScale, -_farClip, 1.0f);
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corners[7] = eyeMatrix * glm::vec4(-hwidth * farScale, hheight * farScale, -_farClip, 1.0f);
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// find the minimum and maximum z values, which will be our near and far clip distances
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near = FLT_MAX;
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far = -FLT_MAX;
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||
for (int i = 0; i < 8; i++) {
|
||
near = min(near, -corners[i].z);
|
||
far = max(far, -corners[i].z);
|
||
}
|
||
|
||
// get the near/far normal and use it to find the clip planes
|
||
glm::vec4 normal = eyeMatrix * glm::vec4(0.0f, 0.0f, 1.0f, 0.0f);
|
||
nearClipPlane = glm::vec4(-normal.x, -normal.y, -normal.z, glm::dot(normal, corners[0]));
|
||
farClipPlane = glm::vec4(normal.x, normal.y, normal.z, -glm::dot(normal, corners[4]));
|
||
|
||
// get the extents at Z = -near
|
||
left = FLT_MAX;
|
||
right = -FLT_MAX;
|
||
bottom = FLT_MAX;
|
||
top = -FLT_MAX;
|
||
for (int i = 0; i < 4; i++) {
|
||
glm::vec4 intersection = corners[i] * (-near / corners[i].z);
|
||
left = min(left, intersection.x);
|
||
right = max(right, intersection.x);
|
||
bottom = min(bottom, intersection.y);
|
||
top = max(top, intersection.y);
|
||
}
|
||
}
|
||
|
||
void ViewFrustum::printDebugDetails() const {
|
||
printLog("ViewFrustum::printDebugDetails()... \n");
|
||
printLog("_position=%f,%f,%f\n", _position.x, _position.y, _position.z );
|
||
printLog("_direction=%f,%f,%f\n", _direction.x, _direction.y, _direction.z );
|
||
printLog("_up=%f,%f,%f\n", _up.x, _up.y, _up.z );
|
||
printLog("_right=%f,%f,%f\n", _right.x, _right.y, _right.z );
|
||
printLog("_fieldOfView=%f\n", _fieldOfView);
|
||
printLog("_aspectRatio=%f\n", _aspectRatio);
|
||
printLog("_nearClip=%f\n", _nearClip);
|
||
printLog("_farClip=%f\n", _farClip);
|
||
printLog("_eyeOffsetPosition=%f,%f,%f\n", _eyeOffsetPosition.x, _eyeOffsetPosition.y, _eyeOffsetPosition.z );
|
||
printLog("_eyeOffsetOrientation=%f,%f,%f,%f\n", _eyeOffsetOrientation.x, _eyeOffsetOrientation.y, _eyeOffsetOrientation.z,
|
||
_eyeOffsetOrientation.w );
|
||
}
|
||
|