static collision sphere_collide_mesh_space(sphere s, vec3 v, cmesh* cm, mat4 world, mat3 world_normal, mat3 space, mat3 space_normal) {
if ( !cm->is_leaf ) {
plane div = cm->division;
div = plane_transform(div, world, world_normal);
div = plane_transform_space(div, space, space_normal);
if ( sphere_swept_inside_plane(s, v, div) ) { return sphere_collide_mesh_space(s, v, cm->back, world, world_normal, space, space_normal); }
else if ( sphere_swept_outside_plane(s, v, div) ) { return sphere_collide_mesh_space(s, v, cm->front, world, world_normal, space, space_normal); }
else {
collision c0 = sphere_collide_mesh_space(s, v, cm->back, world, world_normal, space, space_normal);
collision c1 = sphere_collide_mesh_space(s, v, cm->front, world, world_normal, space, space_normal);
return collision_merge(c0, c1);
}
}
collision col = collision_none();
for (int i = 0; i < cm->triangles_num; i++) {
ctri ct = cm->triangles[i];
ct = ctri_transform(ct, world, world_normal);
ct = ctri_transform_space(ct, space, space_normal);
/* This does not work for some reason */
//if (sphere_swept_outside_sphere(s, v, ct.bound)) continue;
col = collision_merge(col, sphere_collide_ctri(s, v, ct));
}
return col;
}
int main(int argc, char* argv[])
{
osg::ref_ptr<osg::Group> root(new osg::Group);
osg::ref_ptr<osg::Geode> sphere(build_sphere());
root->addChild(sphere.get());
osg::ref_ptr<osg::Group> satellites_geometry(build_satellites());
osg::ref_ptr<osg::MatrixTransform> satellites(new osg::MatrixTransform);
satellites->addChild(satellites_geometry.get());
satellites->setUpdateCallback(new RotateCallback(osg::Vec3(0., 1., 0.), 0.001));
root->addChild(satellites.get());
osg::ref_ptr<osg::Geode> plane(build_quad());
osg::ref_ptr<osg::MatrixTransform> plane_transform(new osg::MatrixTransform);
plane_transform->addChild(plane.get());
osg::Matrix plane_transform_matrix;
plane_transform_matrix.makeTranslate(0., -2., 0.);
plane_transform->setMatrix(plane_transform_matrix);
root->addChild(plane_transform.get());
osg::ref_ptr<osg::Light> light(new osg::Light);
light->setLightNum(1);
light->setPosition(osg::Vec4(0., 0., 0., 1.));
osg::ref_ptr<osg::LightSource> light_source(new osg::LightSource);
light_source->setLight(light.get());
osg::ref_ptr<osg::MatrixTransform> transform(new osg::MatrixTransform);
transform->addChild(light_source.get());
osg::Matrix matrix;
matrix.makeTranslate(osg::Vec3(10., 0., 0.));
transform->setMatrix(matrix);
root->addChild(transform.get());
osg::ref_ptr<osg::Texture2D> tex = new osg::Texture2D;
int env_width = 1024;
int env_height = 1024;
tex->setTextureSize(env_width, env_height);
tex->setInternalFormat(GL_RGBA);
tex->setFilter(osg::Texture2D::MIN_FILTER, osg::Texture2D::LINEAR);
tex->setFilter(osg::Texture2D::MAG_FILTER, osg::Texture2D::LINEAR);
boost::shared_ptr<shade::osg::Texture> shade_tex(new shade::osg::Texture(tex.get()));
osg::ref_ptr<osg::Camera> env_camera = new osg::Camera;
env_camera->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
env_camera->setClearColor(osg::Vec4(0.5, 0.5, 0.5, 1.));
env_camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
env_camera->setViewport(0, 0, env_width, env_height);
env_camera->setRenderOrder(osg::Camera::PRE_RENDER);
env_camera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT, osg::Camera::FRAME_BUFFER);
env_camera->attach(osg::Camera::COLOR_BUFFER, tex, 0, 0, true);
env_camera->addChild(sphere);
env_camera->addChild(satellites);
osg::ref_ptr<osg::StateSet> env_camera_state(env_camera->getOrCreateStateSet());
osg::FrontFace* cf = new osg::FrontFace(osg::FrontFace::CLOCKWISE);
env_camera_state->setAttributeAndModes(cf);
root->addChild(env_camera);
setup_plane_shading(plane->getOrCreateStateSet(), shade_tex);
osg::ref_ptr<osg::TextureCubeMap> osg_cube_tex = new osg::TextureCubeMap;
int cube_map_size = 512;
osg_cube_tex->setTextureSize(cube_map_size, cube_map_size);
osg_cube_tex->setInternalFormat(GL_RGBA);
struct
{
osg::Vec3 center;
osg::Vec3 up;
} cube_cameras[] = {
{osg::Vec3(+1., 0., 0.), osg::Vec3(0., -1., 0.)},
{osg::Vec3(-1., 0., 0.), osg::Vec3(0., -1., 0.)},
{osg::Vec3(0., +1., 0.), osg::Vec3(0., 0., +1.)},
{osg::Vec3(0., -1., 0.), osg::Vec3(0., 0., +1.)},
{osg::Vec3(0., 0., +1.), osg::Vec3(0., -1., 0.)},
{osg::Vec3(0., 0., -1.), osg::Vec3(0., -1., 0.)},
};
for(int i = 0; i != 6; ++i)
{
osg::ref_ptr<osg::Camera> cm_camera = new osg::Camera;
cm_camera->setClearMask(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
cm_camera->setClearColor(osg::Vec4(0.3, 0.3, 0.3, 1.));
cm_camera->setReferenceFrame(osg::Transform::ABSOLUTE_RF);
cm_camera->setViewport(0, 0, cube_map_size, cube_map_size);
cm_camera->setRenderOrder(osg::Camera::PRE_RENDER);
cm_camera->setRenderTargetImplementation(osg::Camera::FRAME_BUFFER_OBJECT, osg::Camera::FRAME_BUFFER);
cm_camera->attach(osg::Camera::COLOR_BUFFER, osg_cube_tex, 0, i, true);
cm_camera->setProjectionMatrixAsPerspective(90., 1., 0.1, 10.);
cm_camera->setViewMatrixAsLookAt(osg::Vec3(0., 0., 0.), cube_cameras[i].center, cube_cameras[i].up);
cm_camera->addChild(satellites);
root->addChild(cm_camera);
}
boost::shared_ptr<shade::osg::Texture> cube_tex(new shade::osg::Texture(osg_cube_tex.get()));
setup_sphere_shading(sphere->getOrCreateStateSet(), cube_tex);
osg::ref_ptr<osgViewer::Viewer> viewer(build_viewer(root.get()));
env_camera->setDataVariance(osg::Object::DYNAMIC);
env_camera->setUpdateCallback(new MirrorCamera(viewer->getCamera(), plane_transform_matrix));
viewer->run();
}