int main(int argc, char **argv)
{
DEBUG_START;
if (argc < 3)
{
printUsage(argv[0]);
DEBUG_END;
return EXIT_FAILURE;
}
const char *pathPolyhedron = argv[1];
const char *pathEdgesData = argv[2];
PolyhedronPtr p(new Polyhedron());
if (!p->fscan_default_1_2(pathPolyhedron))
{
printf("Failed to read polyhedron data!\n");
printUsage(argv[0]);
DEBUG_END;
return EXIT_FAILURE;
}
std::cout << "Number of vertices (custom): " << p->numVertices
<< std::endl;
globalPCLDumper.setNameBase(pathPolyhedron);
globalPCLDumper.enableVerboseMode();
Polyhedron_3 initP(p);
globalPCLDumper(PCL_DUMPER_LEVEL_DEBUG, "init-polyhedron.ply")
<< initP;
std::cout << "Successfully read the polyhedron..." << std::endl;
std::vector<EdgeInfo> data;
if (!readEdgeInfoFile(pathEdgesData, data))
{
printf("Failed to read edge info data!\n");
printUsage(argv[0]);
DEBUG_END;
return EXIT_FAILURE;
}
if (!getInitialPosition(initP, data))
{
printf("Failed to initialize edges!\n");
DEBUG_END;
return EXIT_FAILURE;
}
std::cout << "Successfully read the edge info data..." << std::endl;
std::vector<Plane_3> planes;
for (auto I = initP.planes_begin(), E = initP.planes_end(); I != E; ++I)
planes.push_back(normalizePlane(*I));
std::vector<Plane_3> resultingPlanes = correctPlanes(planes, data);
dumpResult(planes, resultingPlanes, getCenter(initP));
DEBUG_END;
return EXIT_SUCCESS;
}
void Frustum::buildPlane( Plane& _plane, const ngl::Matrix& _mat, int _row, int _sign )
{
_plane.a = _mat.m_m[0][3] + _sign * _mat.m_m[0][_row];
_plane.b = _mat.m_m[1][3] + _sign * _mat.m_m[1][_row];
_plane.c = _mat.m_m[2][3] + _sign * _mat.m_m[2][_row];
_plane.d = _mat.m_m[3][3] + _sign * _mat.m_m[3][_row];
normalizePlane( _plane );
}
void Frustum::calculate(const TMath::TMatrix<float>& matrix)
{
TMath_assert((matrix.rows() == 4) && (matrix.cols() == 4));
//matrix = matrix.inverted();
// Нам нужно получить стороны frustum'а. Чтобы сделать это,
// возьмём обрезающие плоскости, полученные из matrix (матрица проекции умноженная на мировую), и из них получим стороны.
// получаем ПРАВУЮ сторону frustum'а
_frustum[RIGHT][A] = matrix(3, 0) - matrix(0, 0);
_frustum[RIGHT][B] = matrix(3, 1) - matrix(0, 1);
_frustum[RIGHT][C] = matrix(3, 2) - matrix(0, 2);
_frustum[RIGHT][D] = matrix(3, 3) - matrix(0, 3);
// Теперь, имея нормаль (A,B,C) и расстояние (D) к плоскости,
// нам нужно нормализовать нормаль и дистанцию
// Нормализуем правую сторону
normalizePlane(RIGHT);
// получаем ЛЕВУЮ сторону frustum'а
_frustum[LEFT][A] = matrix(3, 0) + matrix(0, 0);
_frustum[LEFT][B] = matrix(3, 1) + matrix(0, 1);
_frustum[LEFT][C] = matrix(3, 2) + matrix(0, 2);
_frustum[LEFT][D] = matrix(3, 3) + matrix(0, 3);
normalizePlane(LEFT);
// получаем нижнюю сторону frustum'а
_frustum[BOTTOM][A] = matrix(3, 0) - matrix(1, 0);
_frustum[BOTTOM][B] = matrix(3, 1) - matrix(1, 1);
_frustum[BOTTOM][C] = matrix(3, 2) - matrix(1, 2);
_frustum[BOTTOM][D] = matrix(3, 3) - matrix(1, 3);
normalizePlane(BOTTOM);
// получаем верхнюю сторону frustum'а
_frustum[TOP][A] = matrix(3, 0) + matrix(1, 0);
_frustum[TOP][B] = matrix(3, 1) + matrix(1, 1);
_frustum[TOP][C] = matrix(3, 2) + matrix(1, 2);
_frustum[TOP][D] = matrix(3, 3) + matrix(1, 3);
normalizePlane(TOP);
// получаем заднюю сторону frustum'а
_frustum[BACK][A] = matrix(3, 0) - matrix(2, 0);
_frustum[BACK][B] = matrix(3, 1) - matrix(2, 1);
_frustum[BACK][C] = matrix(3, 2) - matrix(2, 2);
_frustum[BACK][D] = matrix(3, 3) - matrix(2, 3);
normalizePlane(BACK);
// получаем переднюю сторону frustum'а
_frustum[FRONT][A] = matrix(3, 0) + matrix(2, 0);
_frustum[FRONT][B] = matrix(3, 1) + matrix(2, 1);
_frustum[FRONT][C] = matrix(3, 2) + matrix(2, 2);
_frustum[FRONT][D] = matrix(3, 3) + matrix(2, 3);
normalizePlane(FRONT);
}
//get the planes of the view frustrum
void getPlanes(){
float projMatrix[16];
float modelMatrix[16];
glGetFloatv( GL_PROJECTION_MATRIX, projMatrix );
glGetFloatv( GL_MODELVIEW_MATRIX, modelMatrix );
mat4TransposeFloat(projMatrix);
mat4TransposeFloat(modelMatrix);
float combinedMatrix[16];
mat4MultMat4Float(projMatrix, modelMatrix, combinedMatrix);
leftPlane[0] = combinedMatrix[12] + combinedMatrix[0];
leftPlane[1] = combinedMatrix[13] + combinedMatrix[1];
leftPlane[2] = combinedMatrix[14] + combinedMatrix[2];
leftPlane[3] = combinedMatrix[15] + combinedMatrix[3];
rightPlane[0] = combinedMatrix[12] - combinedMatrix[0];
rightPlane[1] = combinedMatrix[13] - combinedMatrix[1];
rightPlane[2] = combinedMatrix[14] - combinedMatrix[2];
rightPlane[3] = combinedMatrix[15] - combinedMatrix[3];
topPlane[0] = combinedMatrix[12] - combinedMatrix[4];
topPlane[1] = combinedMatrix[13] - combinedMatrix[5];
topPlane[2] = combinedMatrix[14] - combinedMatrix[6];
topPlane[3] = combinedMatrix[15] - combinedMatrix[7];
bottomPlane[0] = combinedMatrix[12] + combinedMatrix[4];
bottomPlane[1] = combinedMatrix[13] + combinedMatrix[5];
bottomPlane[2] = combinedMatrix[14] + combinedMatrix[6];
bottomPlane[3] = combinedMatrix[15] + combinedMatrix[7];
nearPlane[0] = combinedMatrix[12] + combinedMatrix[8];
nearPlane[1] = combinedMatrix[13] + combinedMatrix[9];
nearPlane[2] = combinedMatrix[14] + combinedMatrix[10];
nearPlane[3] = combinedMatrix[15] + combinedMatrix[11];
farPlane[0] = combinedMatrix[12] - combinedMatrix[8];
farPlane[1] = combinedMatrix[13] - combinedMatrix[9];
farPlane[2] = combinedMatrix[14] - combinedMatrix[10];
farPlane[3] = combinedMatrix[15] - combinedMatrix[11];
normalizePlane(topPlane);
normalizePlane(bottomPlane);
normalizePlane(leftPlane);
normalizePlane(rightPlane);
normalizePlane(nearPlane);
normalizePlane(farPlane);
}
void GL_FrustumCulling::calculateFrustum( const float* proj, const float* modl )
{
float clip[16];
#define D_SET_CLIP(X) \
clip[X * 4 + 0] = modl[X * 4]*proj[ 0] + modl[X * 4 + 1]*proj[ 4] + modl[X * 4 + 2]*proj[ 8] + modl[X * 4 + 3]*proj[12]; \
clip[X * 4 + 1] = modl[X * 4]*proj[ 1] + modl[X * 4 + 1]*proj[ 5] + modl[X * 4 + 2]*proj[ 9] + modl[X * 4 + 3]*proj[13]; \
clip[X * 4 + 2] = modl[X * 4]*proj[ 2] + modl[X * 4 + 1]*proj[ 6] + modl[X * 4 + 2]*proj[10] + modl[X * 4 + 3]*proj[14]; \
clip[X * 4 + 3] = modl[X * 4]*proj[ 3] + modl[X * 4 + 1]*proj[ 7] + modl[X * 4 + 2]*proj[11] + modl[X * 4 + 3]*proj[15];
D_SET_CLIP(0);
D_SET_CLIP(1);
D_SET_CLIP(2);
D_SET_CLIP(3);
#undef D_SET_CLIP
// 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];
_Frustum[eRight][eA] = clip[ 3] - clip[ 0];
_Frustum[eRight][eB] = clip[ 7] - clip[ 4];
_Frustum[eRight][eC] = clip[11] - clip[ 8];
_Frustum[eRight][eD] = clip[15] - clip[12];
normalizePlane(eRight);
_Frustum[eLeft][eA] = clip[ 3] + clip[ 0];
_Frustum[eLeft][eB] = clip[ 7] + clip[ 4];
_Frustum[eLeft][eC] = clip[11] + clip[ 8];
_Frustum[eLeft][eD] = clip[15] + clip[12];
normalizePlane(eLeft);
_Frustum[eBottom][eA] = clip[ 3] + clip[ 1];
_Frustum[eBottom][eB] = clip[ 7] + clip[ 5];
_Frustum[eBottom][eC] = clip[11] + clip[ 9];
_Frustum[eBottom][eD] = clip[15] + clip[13];
normalizePlane(eBottom);
_Frustum[eTop][eA] = clip[ 3] - clip[ 1];
_Frustum[eTop][eB] = clip[ 7] - clip[ 5];
_Frustum[eTop][eC] = clip[11] - clip[ 9];
_Frustum[eTop][eD] = clip[15] - clip[13];
normalizePlane(eTop);
_Frustum[eBack][eA] = clip[ 3] - clip[ 2];
_Frustum[eBack][eB] = clip[ 7] - clip[ 6];
_Frustum[eBack][eC] = clip[11] - clip[10];
_Frustum[eBack][eD] = clip[15] - clip[14];
normalizePlane(eBack);
_Frustum[eFront][eA] = clip[ 3] + clip[ 2];
_Frustum[eFront][eB] = clip[ 7] + clip[ 6];
_Frustum[eFront][eC] = clip[11] + clip[10];
_Frustum[eFront][eD] = clip[15] + clip[14];
normalizePlane(eFront);
}
