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/*
* viewcull implementation
*
* Copyright (C) Jan Elseberg
*
* Released under the GPL version 3.
*
*/
/**
* @file
* @brief Frustrum culling routines
*
* @author Jan Elseberg. Automation Group, Jacobs University Bremen gGmbH, Germany.
*/
#include "show/viewcull.h"
#include <stdlib.h>
#include <stdio.h>
#include <math.h>
#include <GL/glut.h>
#include <GL/glu.h>
#include "slam6d/globals.icc"
/** The 6 planes of the viewing frustum */
float frustum[6][4];
/** the modelview * projection matrix to map a model point to an onscreen coordinate */
float matrix[16];
/** some useful variables for faster calculation of the pixel coordinates */
short VP[4];
/** a unit vector pointing to the right of the screen */
float right[3];
/** how much detail is shown, 0 means everything is plotted */
short DETAIL;
double SX, SY, SZ, EX, EY, EZ;
float origin[3], dir[3]; /*ray */
float dist;
int rayX,rayY;
float rayVP[4];
void calcRay(int x, int y, double znear, double zfar) {
GLdouble modelMatrix[16];
GLdouble projMatrix[16];
int viewport[4];
glGetDoublev(GL_MODELVIEW_MATRIX,modelMatrix);
glGetDoublev(GL_PROJECTION_MATRIX,projMatrix);
glGetIntegerv(GL_VIEWPORT,viewport);
gluUnProject(x, viewport[3]-y, zfar, modelMatrix, projMatrix, viewport, &SX, &SY, &SZ);
gluUnProject(x, viewport[3]-y, znear, modelMatrix, projMatrix, viewport, &EX, &EY, &EZ);
origin[0] = SX;
origin[1] = SY;
origin[2] = SZ;
dir[0] = EX-SX;
dir[1] = EY-SY;
dir[2] = EZ-SZ;
double t = sqrt( dir[0] * dir[0] + dir[1] * dir[1] + dir[2] * dir[2] );
dir[0] /= t;
dir[1] /= t;
dir[2] /= t;
dist = SX * dir[0] + SY * dir[1] + SZ * dir[2];
rayVP[0] = 0.5*viewport[2];
rayVP[1] = 0.5*viewport[2] + viewport[0];
rayVP[2] = 0.5*viewport[3];
rayVP[3] = 0.5*viewport[3] + viewport[1];
rayX = x;
rayY = viewport[3]-y;
remViewport();
}
void remViewport() {
GLdouble modelMatrix[16];
GLdouble projMatrix[16];
int viewport[4];
glGetDoublev(GL_MODELVIEW_MATRIX,modelMatrix);
glGetDoublev(GL_PROJECTION_MATRIX,projMatrix);
glGetIntegerv(GL_VIEWPORT,viewport);
MMult( projMatrix, modelMatrix, matrix );
VP[0] = 0.5*viewport[2];
VP[1] = 0.5*viewport[2] + viewport[0];
VP[2] = 0.5*viewport[3];
VP[3] = 0.5*viewport[3] + viewport[1];
right[0] = modelMatrix[0];
right[1] = modelMatrix[4];
right[2] = modelMatrix[8];
}
void ExtractFrustum(short detail)
{
DETAIL = detail + 1;
remViewport();
float proj[16];
float modl[16];
float clip[16];
float t;
/* Get the current PROJECTION matrix from OpenGL */
glGetFloatv( GL_PROJECTION_MATRIX, proj );
/* Get the current MODELVIEW matrix from OpenGL */
glGetFloatv( GL_MODELVIEW_MATRIX, modl );
/* Combine the two matrices (multiply projection by modelview) */
clip[ 0] = modl[ 0] * proj[ 0] + modl[ 1] * proj[ 4] + modl[ 2] * proj[ 8] + modl[ 3] * proj[12];
clip[ 1] = modl[ 0] * proj[ 1] + modl[ 1] * proj[ 5] + modl[ 2] * proj[ 9] + modl[ 3] * proj[13];
clip[ 2] = modl[ 0] * proj[ 2] + modl[ 1] * proj[ 6] + modl[ 2] * proj[10] + modl[ 3] * proj[14];
clip[ 3] = modl[ 0] * proj[ 3] + modl[ 1] * proj[ 7] + modl[ 2] * proj[11] + modl[ 3] * proj[15];
clip[ 4] = modl[ 4] * proj[ 0] + modl[ 5] * proj[ 4] + modl[ 6] * proj[ 8] + modl[ 7] * proj[12];
clip[ 5] = modl[ 4] * proj[ 1] + modl[ 5] * proj[ 5] + modl[ 6] * proj[ 9] + modl[ 7] * proj[13];
clip[ 6] = modl[ 4] * proj[ 2] + modl[ 5] * proj[ 6] + modl[ 6] * proj[10] + modl[ 7] * proj[14];
clip[ 7] = modl[ 4] * proj[ 3] + modl[ 5] * proj[ 7] + modl[ 6] * proj[11] + modl[ 7] * proj[15];
clip[ 8] = modl[ 8] * proj[ 0] + modl[ 9] * proj[ 4] + modl[10] * proj[ 8] + modl[11] * proj[12];
clip[ 9] = modl[ 8] * proj[ 1] + modl[ 9] * proj[ 5] + modl[10] * proj[ 9] + modl[11] * proj[13];
clip[10] = modl[ 8] * proj[ 2] + modl[ 9] * proj[ 6] + modl[10] * proj[10] + modl[11] * proj[14];
clip[11] = modl[ 8] * proj[ 3] + modl[ 9] * proj[ 7] + modl[10] * proj[11] + modl[11] * proj[15];
clip[12] = modl[12] * proj[ 0] + modl[13] * proj[ 4] + modl[14] * proj[ 8] + modl[15] * proj[12];
clip[13] = modl[12] * proj[ 1] + modl[13] * proj[ 5] + modl[14] * proj[ 9] + modl[15] * proj[13];
clip[14] = modl[12] * proj[ 2] + modl[13] * proj[ 6] + modl[14] * proj[10] + modl[15] * proj[14];
clip[15] = modl[12] * proj[ 3] + modl[13] * proj[ 7] + modl[14] * proj[11] + modl[15] * proj[15];
/* Extract the numbers for the RIGHT plane */
frustum[0][0] = clip[ 3] - clip[ 0];
frustum[0][1] = clip[ 7] - clip[ 4];
frustum[0][2] = clip[11] - clip[ 8];
frustum[0][3] = clip[15] - clip[12];
/* Normalize the result */
t = sqrt( frustum[0][0] * frustum[0][0] + frustum[0][1] * frustum[0][1] + frustum[0][2] * frustum[0][2] );
frustum[0][0] /= t;
frustum[0][1] /= t;
frustum[0][2] /= t;
frustum[0][3] /= t;
/* Extract the numbers for the LEFT plane */
frustum[1][0] = clip[ 3] + clip[ 0];
frustum[1][1] = clip[ 7] + clip[ 4];
frustum[1][2] = clip[11] + clip[ 8];
frustum[1][3] = clip[15] + clip[12];
/* Normalize the result */
t = sqrt( frustum[1][0] * frustum[1][0] + frustum[1][1] * frustum[1][1] + frustum[1][2] * frustum[1][2] );
frustum[1][0] /= t;
frustum[1][1] /= t;
frustum[1][2] /= t;
frustum[1][3] /= t;
/* Extract the BOTTOM plane */
frustum[2][0] = clip[ 3] + clip[ 1];
frustum[2][1] = clip[ 7] + clip[ 5];
frustum[2][2] = clip[11] + clip[ 9];
frustum[2][3] = clip[15] + clip[13];
/* Normalize the result */
t = sqrt( frustum[2][0] * frustum[2][0] + frustum[2][1] * frustum[2][1] + frustum[2][2] * frustum[2][2] );
frustum[2][0] /= t;
frustum[2][1] /= t;
frustum[2][2] /= t;
frustum[2][3] /= t;
/* Extract the TOP plane */
frustum[3][0] = clip[ 3] - clip[ 1];
frustum[3][1] = clip[ 7] - clip[ 5];
frustum[3][2] = clip[11] - clip[ 9];
frustum[3][3] = clip[15] - clip[13];
/* Normalize the result */
t = sqrt( frustum[3][0] * frustum[3][0] + frustum[3][1] * frustum[3][1] + frustum[3][2] * frustum[3][2] );
frustum[3][0] /= t;
frustum[3][1] /= t;
frustum[3][2] /= t;
frustum[3][3] /= t;
/* Extract the FAR plane */
frustum[4][0] = clip[ 3] - clip[ 2];
frustum[4][1] = clip[ 7] - clip[ 6];
frustum[4][2] = clip[11] - clip[10];
frustum[4][3] = clip[15] - clip[14];
/* Normalize the result */
t = sqrt( frustum[4][0] * frustum[4][0] + frustum[4][1] * frustum[4][1] + frustum[4][2] * frustum[4][2] );
frustum[4][0] /= t;
frustum[4][1] /= t;
frustum[4][2] /= t;
frustum[4][3] /= t;
/* Extract the NEAR plane */
frustum[5][0] = clip[ 3] + clip[ 2];
frustum[5][1] = clip[ 7] + clip[ 6];
frustum[5][2] = clip[11] + clip[10];
frustum[5][3] = clip[15] + clip[14];
/* Normalize the result */
t = sqrt( frustum[5][0] * frustum[5][0] + frustum[5][1] * frustum[5][1] + frustum[5][2] * frustum[5][2] );
frustum[5][0] /= t;
frustum[5][1] /= t;
frustum[5][2] /= t;
frustum[5][3] /= t;
}
void ExtractFrustum(float *frust[6])
{
remViewport();
float proj[16];
float modl[16];
float clip[16];
float t;
/* Get the current PROJECTION matrix from OpenGL */
glGetFloatv( GL_PROJECTION_MATRIX, proj );
/* Get the current MODELVIEW matrix from OpenGL */
glGetFloatv( GL_MODELVIEW_MATRIX, modl );
/* Combine the two matrices (multiply projection by modelview) */
clip[ 0] = modl[ 0] * proj[ 0] + modl[ 1] * proj[ 4] + modl[ 2] * proj[ 8] + modl[ 3] * proj[12];
clip[ 1] = modl[ 0] * proj[ 1] + modl[ 1] * proj[ 5] + modl[ 2] * proj[ 9] + modl[ 3] * proj[13];
clip[ 2] = modl[ 0] * proj[ 2] + modl[ 1] * proj[ 6] + modl[ 2] * proj[10] + modl[ 3] * proj[14];
clip[ 3] = modl[ 0] * proj[ 3] + modl[ 1] * proj[ 7] + modl[ 2] * proj[11] + modl[ 3] * proj[15];
clip[ 4] = modl[ 4] * proj[ 0] + modl[ 5] * proj[ 4] + modl[ 6] * proj[ 8] + modl[ 7] * proj[12];
clip[ 5] = modl[ 4] * proj[ 1] + modl[ 5] * proj[ 5] + modl[ 6] * proj[ 9] + modl[ 7] * proj[13];
clip[ 6] = modl[ 4] * proj[ 2] + modl[ 5] * proj[ 6] + modl[ 6] * proj[10] + modl[ 7] * proj[14];
clip[ 7] = modl[ 4] * proj[ 3] + modl[ 5] * proj[ 7] + modl[ 6] * proj[11] + modl[ 7] * proj[15];
clip[ 8] = modl[ 8] * proj[ 0] + modl[ 9] * proj[ 4] + modl[10] * proj[ 8] + modl[11] * proj[12];
clip[ 9] = modl[ 8] * proj[ 1] + modl[ 9] * proj[ 5] + modl[10] * proj[ 9] + modl[11] * proj[13];
clip[10] = modl[ 8] * proj[ 2] + modl[ 9] * proj[ 6] + modl[10] * proj[10] + modl[11] * proj[14];
clip[11] = modl[ 8] * proj[ 3] + modl[ 9] * proj[ 7] + modl[10] * proj[11] + modl[11] * proj[15];
clip[12] = modl[12] * proj[ 0] + modl[13] * proj[ 4] + modl[14] * proj[ 8] + modl[15] * proj[12];
clip[13] = modl[12] * proj[ 1] + modl[13] * proj[ 5] + modl[14] * proj[ 9] + modl[15] * proj[13];
clip[14] = modl[12] * proj[ 2] + modl[13] * proj[ 6] + modl[14] * proj[10] + modl[15] * proj[14];
clip[15] = modl[12] * proj[ 3] + modl[13] * proj[ 7] + modl[14] * proj[11] + modl[15] * proj[15];
/* Extract the numbers for the RIGHT plane */
frust[0][0] = clip[ 3] - clip[ 0];
frust[0][1] = clip[ 7] - clip[ 4];
frust[0][2] = clip[11] - clip[ 8];
frust[0][3] = clip[15] - clip[12];
/* Normalize the result */
t = sqrt( frust[0][0] * frust[0][0] + frust[0][1] * frust[0][1] + frust[0][2] * frust[0][2] );
frust[0][0] /= t;
frust[0][1] /= t;
frust[0][2] /= t;
frust[0][3] /= t;
/* Extract the numbers for the LEFT plane */
frust[1][0] = clip[ 3] + clip[ 0];
frust[1][1] = clip[ 7] + clip[ 4];
frust[1][2] = clip[11] + clip[ 8];
frust[1][3] = clip[15] + clip[12];
/* Normalize the result */
t = sqrt( frust[1][0] * frust[1][0] + frust[1][1] * frust[1][1] + frust[1][2] * frust[1][2] );
frust[1][0] /= t;
frust[1][1] /= t;
frust[1][2] /= t;
frust[1][3] /= t;
/* Extract the BOTTOM plane */
frust[2][0] = clip[ 3] + clip[ 1];
frust[2][1] = clip[ 7] + clip[ 5];
frust[2][2] = clip[11] + clip[ 9];
frust[2][3] = clip[15] + clip[13];
/* Normalize the result */
t = sqrt( frust[2][0] * frust[2][0] + frust[2][1] * frust[2][1] + frust[2][2] * frust[2][2] );
frust[2][0] /= t;
frust[2][1] /= t;
frust[2][2] /= t;
frust[2][3] /= t;
/* Extract the TOP plane */
frust[3][0] = clip[ 3] - clip[ 1];
frust[3][1] = clip[ 7] - clip[ 5];
frust[3][2] = clip[11] - clip[ 9];
frust[3][3] = clip[15] - clip[13];
/* Normalize the result */
t = sqrt( frust[3][0] * frust[3][0] + frust[3][1] * frust[3][1] + frust[3][2] * frust[3][2] );
frust[3][0] /= t;
frust[3][1] /= t;
frust[3][2] /= t;
frust[3][3] /= t;
/* Extract the FAR plane */
frust[4][0] = clip[ 3] - clip[ 2];
frust[4][1] = clip[ 7] - clip[ 6];
frust[4][2] = clip[11] - clip[10];
frust[4][3] = clip[15] - clip[14];
/* Normalize the result */
t = sqrt( frust[4][0] * frust[4][0] + frust[4][1] * frust[4][1] + frust[4][2] * frust[4][2] );
frust[4][0] /= t;
frust[4][1] /= t;
frust[4][2] /= t;
frust[4][3] /= t;
/* Extract the NEAR plane */
frust[5][0] = clip[ 3] + clip[ 2];
frust[5][1] = clip[ 7] + clip[ 6];
frust[5][2] = clip[11] + clip[10];
frust[5][3] = clip[15] + clip[14];
/* Normalize the result */
t = sqrt( frust[5][0] * frust[5][0] + frust[5][1] * frust[5][1] + frust[5][2] * frust[5][2] );
frust[5][0] /= t;
frust[5][1] /= t;
frust[5][2] /= t;
frust[5][3] /= t;
}
void myProject(float x, float y, float z, short &Xi ) {
float pn[2];
// x coordinate on screen, not normalized
pn[0] = x * matrix[0] + y * matrix[4] + z * matrix[8] + matrix[12];
// normalization
pn[1] = x * matrix[3] + y * matrix[7] + z * matrix[11] + matrix[15];
// normalized x coordinate on screen
pn[0] /= pn[1];
// true x coordinate in viewport coordinate system
Xi = pn[0]*VP[0] + VP[1];
}
int LOD2(float x, float y, float z, float size)
{
size = sqrt(3*size*size);
short X1;
short X2;
// onscreen position of the leftmost point
myProject(x - size*right[0], y - size*right[1], z - size*right[2], X1);
// onscreen position of the rightmost point
myProject(x + size*right[0], y + size*right[1], z + size*right[2], X2);
if (X1 > X2) {
return (X1-X2);
} else {
return (X2-X1);
}
}
bool LOD(float x, float y, float z, float size)
{
size = sqrt(3*size*size);
short X1;
short X2;
// onscreen position of the leftmost point
myProject(x - size*right[0], y - size*right[1], z - size*right[2], X1);
// onscreen position of the rightmost point
myProject(x + size*right[0], y + size*right[1], z + size*right[2], X2);
if (X1 > X2) {
return (X1-X2) > DETAIL;
} else {
return (X2-X1) > DETAIL;
}
}
/**
* 0 if not in frustrum
* 1 if partial overlap
* 2 if entirely within frustrum
*/
int CubeInFrustum2( float x, float y, float z, float size )
{
int p;
float xm, xp, ym, yp, zm, zp;
float Fxm, Fxp, Fym, Fyp, Fzm, Fzp;
xm = x - size;
xp = x + size;
ym = y - size;
yp = y + size;
zm = z - size;
zp = z + size;
for( p = 0; p < 6; p++ )
{
Fxm = frustum[p][0] * xm;
Fym = frustum[p][1] * ym;
Fzm = frustum[p][2] * zm;
if( Fxm + Fym + Fzm + frustum[p][3] > 0 )
continue;
Fxp = frustum[p][0] * xp;
if( Fxp + Fym + Fzm + frustum[p][3] > 0 )
continue;
Fyp = frustum[p][1] * yp;
if( Fxm + Fyp + Fzm + frustum[p][3] > 0 )
continue;
if( Fxp + Fyp + Fzm + frustum[p][3] > 0 )
continue;
Fzp = frustum[p][2] * zp;
if( Fxm + Fym + Fzp + frustum[p][3] > 0 )
continue;
if( Fxp + Fym + Fzp + frustum[p][3] > 0 )
continue;
if( Fxm + Fyp + Fzp + frustum[p][3] > 0 )
continue;
if( Fxp + Fyp + Fzp + frustum[p][3] > 0 )
continue;
return 0;
}
// box is in frustrum, now check wether all corners are within.
// If one is outside return 1 otherwise 2
for( p = 0; p < 6; p++ )
{
Fxm = frustum[p][0] * xm;
Fym = frustum[p][1] * ym;
Fzm = frustum[p][2] * zm;
if( Fxm + Fym + Fzm + frustum[p][3] < 0 )
return 1;
Fxp = frustum[p][0] * xp;
if( Fxp + Fym + Fzm + frustum[p][3] < 0 )
return 1;
Fyp = frustum[p][1] * yp;
if( Fxm + Fyp + Fzm + frustum[p][3] < 0 )
return 1;
if( Fxp + Fyp + Fzm + frustum[p][3] < 0 )
return 1;
Fzp = frustum[p][2] * zp;
if( Fxm + Fym + Fzp + frustum[p][3] < 0 )
return 1;
if( Fxp + Fym + Fzp + frustum[p][3] < 0 )
return 1;
if( Fxm + Fyp + Fzp + frustum[p][3] < 0 )
return 1;
if( Fxp + Fyp + Fzp + frustum[p][3] < 0 )
return 1;
}
return 2;
}
/*
char PlaneAABB( float x, float y, float z, float size, float *plane )
{
float dist = plane[3];
float xm, xp, ym, yp, zm, zp;
float Fxm, Fxp, Fym, Fyp, Fzm, Fzp;
float dmmm, dpmm, dmpm, dppm, dmmp, dpmp, dmpp, dppp;
xm = x - size;
xp = x + size;
ym = y - size;
yp = y + size;
zm = z - size;
zp = z + size;
{
Fxm = plane[0] * xm;
Fym = plane[1] * ym;
Fzm = plane[2] * zm;
dmmm = Fxm + Fym + Fzm + dist;
if( dmmm > 0 )
goto intersects;
Fxp = plane[0] * xp;
dpmm = Fxp + Fym + Fzm + dist;
if( dpmm > 0 )
goto intersects;
Fyp = plane[1] * yp;
dmpm = Fxm + Fyp + Fzm + dist;
if( dmpm > 0 )
goto intersects;
dppm = Fxp + Fyp + Fzm + dist;
if( dppm > 0 )
goto intersects;
Fzp = plane[2] * zp;
dmmp = Fxm + Fym + Fzp + dist;
if( dmmp > 0 )
goto intersects;
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp > 0 )
goto intersects;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp > 0 )
goto intersects;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp > 0 )
goto intersects;
return 0; // outside
}
intersects:
// cube is inside, determine if plane intersects the cube
{
if( dmmm < 0 )
return 1;
Fxp = plane[0] * xp;
dpmm = Fxp + Fym + Fzm + dist;
if( dpmm < 0 )
return 1;
Fyp = plane[1] * yp;
dmpm = Fxm + Fyp + Fzm + dist;
if( dmpm < 0 )
return 1;
dppm = Fxp + Fyp + Fzm + dist;
if( dppm < 0 )
return 1;
Fzp = plane[2] * zp;
dmmp = Fxm + Fym + Fzp + dist;
if( dmmp < 0 )
return 1;
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp < 0 )
return 1;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
}
// plane is outside
return 2;
}
*/
char PlaneAABB( float x, float y, float z, float size, float *plane )
{
float dist = plane[3];
float xm, xp, ym, yp, zm, zp;
float Fxm, Fxp, Fym, Fyp, Fzm, Fzp;
float dmmm, dpmm, dmpm, dppm, dmmp, dpmp, dmpp, dppp;
xm = x - size;
xp = x + size;
ym = y - size;
yp = y + size;
zm = z - size;
zp = z + size;
Fxm = plane[0] * xm;
Fym = plane[1] * ym;
Fzm = plane[2] * zm;
dmmm = Fxm + Fym + Fzm + dist;
if( dmmm > 0 )
{
Fxp = plane[0] * xp;
dpmm = Fxp + Fym + Fzm + dist;
if( dpmm < 0 )
return 1;
Fyp = plane[1] * yp;
dmpm = Fxm + Fyp + Fzm + dist;
if( dmpm < 0 )
return 1;
dppm = Fxp + Fyp + Fzm + dist;
if( dppm < 0 )
return 1;
Fzp = plane[2] * zp;
dmmp = Fxm + Fym + Fzp + dist;
if( dmmp < 0 )
return 1;
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp < 0 )
return 1;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
return 2;
}
Fxp = plane[0] * xp;
dpmm = Fxp + Fym + Fzm + dist;
if( dpmm > 0 )
{
if( dmmm < 0 )
return 1;
Fyp = plane[1] * yp;
dmpm = Fxm + Fyp + Fzm + dist;
if( dmpm < 0 )
return 1;
dppm = Fxp + Fyp + Fzm + dist;
if( dppm < 0 )
return 1;
Fzp = plane[2] * zp;
dmmp = Fxm + Fym + Fzp + dist;
if( dmmp < 0 )
return 1;
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp < 0 )
return 1;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
return 2;
}
Fyp = plane[1] * yp;
dmpm = Fxm + Fyp + Fzm + dist;
if( dmpm > 0 )
{
if( dmmm < 0 || dpmm < 0 )
return 1;
dppm = Fxp + Fyp + Fzm + dist;
if( dppm < 0 )
return 1;
Fzp = plane[2] * zp;
dmmp = Fxm + Fym + Fzp + dist;
if( dmmp < 0 )
return 1;
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp < 0 )
return 1;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
return 2;
}
dppm = Fxp + Fyp + Fzm + dist;
if( dppm > 0 )
{
if( dmmm < 0 || dpmm < 0 || dmpm < 0 )
return 1;
Fzp = plane[2] * zp;
dmmp = Fxm + Fym + Fzp + dist;
if( dmmp < 0 )
return 1;
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp < 0 )
return 1;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
return 2;
}
Fzp = plane[2] * zp;
dmmp = Fxm + Fym + Fzp + dist;
if( dmmp > 0 )
{
if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 )
return 1;
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp < 0 )
return 1;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
return 2;
}
dpmp = Fxp + Fym + Fzp + dist;
if( dpmp > 0 )
{
if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 )
return 1;
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
return 2;
}
dmpp = Fxm + Fyp + Fzp + dist;
if( dmpp > 0 )
{
if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 || dpmp < 0 )
return 1;
dppp = Fxp + Fyp + Fzp + dist;
if( dppp < 0 )
return 1;
return 2;
}
dppp = Fxp + Fyp + Fzp + dist;
if( dppp > 0 )
{
if( dmmm < 0 || dpmm < 0 || dmpm < 0 || dppm < 0 || dmmp < 0 || dpmp < 0 || dmpp < 0)
return 1;
return 2;
}
return 0; // outside
}
int QuadInFrustrum2old( float x, float y, float z, float size )
{
int p;
for( p = 0; p < 6; p++ )
{
if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 )
continue;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 )
continue;
if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 )
continue;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] > 0 )
continue;
if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 )
continue;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 )
continue;
if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 )
continue;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] > 0 )
continue;
return 0;
}
// box is in frustrum, now check wether all corners are within. If one is outside return 1 otherwise 2
for( p = 0; p < 6; p++ )
{
if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 )
return 1;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 )
return 1;
if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 )
return 1;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z - size) + frustum[p][3] < 0 )
return 1;
if( frustum[p][0] * (x - size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 )
return 1;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y - size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 )
return 1;
if( frustum[p][0] * (x - size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 )
return 1;
if( frustum[p][0] * (x + size) + frustum[p][1] * (y + size) + frustum[p][2] * (z + size) + frustum[p][3] < 0 )
return 1;
}
return 2;
}
bool CubeInFrustum( float x, float y, float z, float size )
{
int p;
float xm, xp, ym, yp, zm, zp;
float Fxm, Fxp, Fym, Fyp, Fzm, Fzp;
xm = x - size;
xp = x + size;
ym = y - size;
yp = y + size;
zm = z - size;
zp = z + size;
for( p = 0; p < 6; p++ )
{
Fxm = frustum[p][0] * xm;
Fym = frustum[p][1] * ym;
Fzm = frustum[p][2] * zm;
if( Fxm + Fym + Fzm + frustum[p][3] > 0 )
continue;
Fxp = frustum[p][0] * xp;
if( Fxp + Fym + Fzm + frustum[p][3] > 0 )
continue;
Fyp = frustum[p][1] * yp;
if( Fxm + Fyp + Fzm + frustum[p][3] > 0 )
continue;
if( Fxp + Fyp + Fzm + frustum[p][3] > 0 )
continue;
Fzp = frustum[p][2] * zp;
if( Fxm + Fym + Fzp + frustum[p][3] > 0 )
continue;
if( Fxp + Fym + Fzp + frustum[p][3] > 0 )
continue;
if( Fxm + Fyp + Fzp + frustum[p][3] > 0 )
continue;
if( Fxp + Fyp + Fzp + frustum[p][3] > 0 )
continue;
return false;
}
return true;
}
float minB[NUMDIM], maxB[NUMDIM]; /*box */
float coord[NUMDIM]; /* hit point */
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