void Matrix4x4f::rotateDegrees(const float &angleDegrees, const Vector3f &axis)
{
float angleRadians = angleDegrees * DEG_TO_RAD;
Matrix4x4f newMatrix;
newMatrix.setAsRotationMatrix(angleRadians, axis);
(*this) = newMatrix * (*this);
}
void
Md3Model::draw () const
{
Matrix4x4f m;
// Draw the model
renderFrameItpWithVertexArrays (_currFrame, _nextFrame, _interp);
// Draw models linked to this one
for (int i = 0; i < _header.num_tags; ++i)
{
if (!_links[i])
continue;
const Quaternionf &qA = _qtags[_currFrame * _header.num_tags + i]->orient;
const Quaternionf &qB = _qtags[_nextFrame * _header.num_tags + i]->orient;
m.fromQuaternion (Slerp (qA, qB, _interp));
const Vector3f &currPos = _qtags[_currFrame * _header.num_tags + i]->origin;
const Vector3f &nextPos = _qtags[_nextFrame * _header.num_tags + i]->origin;
m.setTranslation ((currPos + _interp * (nextPos - currPos)) * _scale);
glPushMatrix ();
glMultMatrixf (m);
_links[i]->draw ();
glPopMatrix ();
}
}
Matrix4x4f BoneBridgeCAL3D::CalculateBoneSpaceTransform() const
{
Matrix4x4f boneSpaceTransform = Matrix4x4f::Identity();
// set up bone space geometry transform
{
// transform forward by half the box length
const Vec3f& dimensions = GetDimensions();
boneSpaceTransform.SetTranslation(Vec3f(dimensions[Y] / 2.0f, 0.0f, 0.0f));
// set rotational offset (the inversion of the core bone absolute rotation)
{
CalCoreBone* coreBone = mpCalBone->getCoreBone();
CalQuaternion calRotAbsolute = coreBone->getRotationAbsolute();
calRotAbsolute.invert();
Quaternionf kernelRot = ConvertCAL3DtoKernel(calRotAbsolute);
boneSpaceTransform.SetRotate(kernelRot);
}
}
return boneSpaceTransform;
}
Matrix4x4f BoneBridgeCAL3D::GetModelSpaceTransform() const
{
Matrix4x4f matrix = Matrix4x4f::Identity();
// update model space position
{
Vec3f kernelPosVec;
const CalVector& calPosVec = mpCalBone->getTranslationAbsolute();
for (int i = 0; i < 3; ++i)
{
kernelPosVec[i] = calPosVec[i];
}
matrix.SetTranslation(kernelPosVec);
}
// update model space orientation
{
Quaternionf kernelRotQuat;
const CalQuaternion& calRotQuat = mpCalBone->getRotationAbsolute();
kernelRotQuat = ConvertCAL3DtoKernel(calRotQuat);
matrix.SetRotate(kernelRotQuat);
}
return matrix;
}
Matrix4x4f Matrix4x4f::transpose() const {
Matrix4x4f transpose;
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++)
transpose.set(j, i, get(i, j));
return transpose;
}
void Matrix4x4f::translate(const Vector3f &translation)
{
Matrix4x4f newMatrix;
newMatrix.setAsTranslationMatrix(translation);
Matrix4x4f testMatrix;
(*this) = newMatrix * (*this);
}
void Camera::SetYaw(float y)
{
yaw = y;
Matrix4x4f Rx = Matrix4x4f::RotationX(pitch);
Matrix4x4f Ry = Matrix4x4f::RotationY(yaw);
Matrix4x4f R = Ry * Rx;
forward = R.TransformVector(Vector3f(0, 0, -1));
right = R.TransformVector(Vector3f(1, 0, 0));
up = R.TransformVector(Vector3f(0, 1, 0));
}
Matrix4x4f Matrix4x4f::scaleMatrix(const Vec3f &scale) {
Matrix4x4f scaleMatrix;
scaleMatrix.setIdentity();
scaleMatrix.set(0, 0, scale.x);
scaleMatrix.set(1, 1, scale.y);
scaleMatrix.set(2, 2, scale.z);
return scaleMatrix;
}
Matrix4x4f Matrix4x4f::translateMatrix(const Vec3f translation) {
Matrix4x4f translateMatrix;
translateMatrix.setIdentity();
translateMatrix.set(3, 0, translation.x);
translateMatrix.set(3, 1, translation.y);
translateMatrix.set(3, 2, translation.z);
return translateMatrix;
}
static void load_camera()
{
FILE* fp = fopen("camera.txt", "rt");
assert(fp);
for (int i = 0; i < 16; i++)
fscanf(fp, "%f", &cam_to_view.data()[i]);
for (int i = 0; i < 16; i++)
fscanf(fp, "%f", &cam_to_clip.data()[i]);
fclose(fp);
fprintf(stderr, "camera loaded from camera.txt\n");
}
void textureProjection(Matrix4x4f &mv) {
Matrix4x4f inverseMV = Matrix4x4f::invertMatrix(mv);
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glTranslatef(0.5f,0.5f,0.0f); //Bias
glScalef(0.5f,0.5f,1.0f); //Scale
glFrustum(-0.035,0.035,-0.035,0.035,0.1,1.9); //MV for light map
glTranslatef(0.0f,0.0f,-1.0f);
glMultMatrixf(inverseMV.getMatrix()); //Inverse ModelView
glMatrixMode(GL_MODELVIEW);
}
void CastorUtilsMatrixTest::MatrixInversionComparison()
{
for ( int i = 0; i < 10; ++i )
{
Matrix4x4f mtx;
glm::mat4 glm;
randomInit( mtx.ptr(), &glm[0][0], 16 );
CT_EQUAL( mtx, glm );
Matrix4x4f mtxInv( mtx.getInverse() );
glm::mat4 glmInv( glm::inverse( glm ) );
CT_EQUAL( mtxInv, glmInv );
}
}
void BoneBridgeCAL3D::SetModelSpaceTransform(const Matrix4x4f& modelSpaceTransform) const
{
// calculate the transform as relative to the parent bone
Matrix4x4f localModelSpaceTransform = Matrix4x4f::Identity();
{
// for now use absolute model space positioning
localModelSpaceTransform = modelSpaceTransform;
// divide by any existing parent's model space position
if (const Bone* parent = GetParent())
{
//const osg::Matrix parentTransform = ConvertKerneltoOSG(parent->GetModelSpaceTransform());
const Matrix4x4f parentTransform = parent->GetModelSpaceTransform();
// get inverse of parent transform
const Matrix4x4f invParentTransform = parentTransform.Inverse();
localModelSpaceTransform *= invParentTransform;
}
}
// now update the cal3d side from this new model space information
#if WRITE_CAL3D_BONE_TRANSLATION
// update model space position
{
Vec3f kernelPosVec = localModelSpaceTransform.GetTranslation();
CalVector calPosVec;
for (int i = 0; i < 3; ++i)
{
calPosVec[i] = kernelPosVec[i];
}
mpCalBone->setTranslation(calPosVec); // setting the relative position
}
#endif
#if WRITE_CAL3D_BONE_ROTATION
// update model space orientation
{
const Quaternionf& kernelRotQuat = localModelSpaceTransform.GetRotate();
CalQuaternion calRotQuat;
calRotQuat = ConvertKerneltoCAL3D(kernelRotQuat);
mpCalBone->setRotation(calRotQuat); // setting the relative orientation
}
#endif
}
Matrix4x4f Matrix4x4f::rotateMatrixZ(float angle) {
float cosOfAngle = std::cosf(angle);
float sinOfAngle = std::sinf(angle);
Matrix4x4f rotationMatrix;
rotationMatrix.setIdentity();
rotationMatrix.set(0, 0, cosOfAngle);
rotationMatrix.set(1, 0, sinOfAngle);
rotationMatrix.set(0, 1, -sinOfAngle);
rotationMatrix.set(1, 1, cosOfAngle);
return rotationMatrix;
}
Matrix4x4f Matrix4x4f::operator*(const Matrix4x4f &other) const {
Matrix4x4f product;
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++) {
float sum = 0.0f;
// jth row of this by ith column of other
for (int d = 0; d < 4; d++)
sum += get(d, j) * other.get(i, d);
product.set(i, j, sum);
}
return product;
}
//Default values
void apply_default()
{
m_initial_transform_matrix.load_identity();
colId = -1;
mass = 1;
colWithIds = NULL;
}
void textureProjection(Matrix4x4f &mv) {
Matrix4x4f inverseMV = Matrix4x4f::invertMatrix(mv);
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glTranslatef(0.5f,0.5f,0.0f);
float wImg = textureImage[textureIndex-1].Width;
float hImg = textureImage[textureIndex-1].Height;
if (wImg < hImg) {
glScalef(1.0f,(1.f*wImg)/hImg,1.0f);
} else {
glScalef((1.f*hImg)/wImg,1.0f,1.0f);
}
glFrustum(-0.035,0.035,-0.035,0.035,0.02,2.0);
glMultMatrixf(inverseMV.getMatrix());
glMatrixMode(GL_MODELVIEW);
}
bool Matrix4x4f::operator==(const Matrix4x4f &other) const {
for (int i = 0; i < 4; i++)
for (int j = 0; j < 4; j++) {
if (get(i, j) != other.get(i, j))
return false;
}
return true;
}
MVP(const Matrix4x4f &modelMatrix, const Matrix4x4f &viewMatrix, const Matrix4x4f &projectionMatrix)
{
this->modelMatrix = modelMatrix;
this->viewMatrix = viewMatrix;
this->projectionMatrix = projectionMatrix;
modelViewMatrix = viewMatrix * modelMatrix;
modelViewMatrixForNormal = modelViewMatrix.inverse().transpose();
modelViewProjMatrix = projectionMatrix * modelViewMatrix;
}
void renderDirectionalLightPass()
{
glDisable(GL_DEPTH_TEST);
glDepthMask(GL_FALSE);
glCullFace(GL_FRONT);
glUseProgram(directionalLightPass.program);
Matrix4x4f identity = Matrix4x4f::identity();
glUniformMatrix4fv(directionalLightPass.modelMatrix, 1, GL_FALSE, identity.const_value_ptr());
glUniformMatrix4fv(directionalLightPass.viewMatrix, 1, GL_FALSE, identity.const_value_ptr());
glUniformMatrix4fv(directionalLightPass.projectionMatrix, 1, GL_FALSE, identity.const_value_ptr());
directionalLightPass.bindUniforms();
directionalLightPass.directionalLight.setDirectionalLight(directionalLight);
pQuadMesh->Render();
glUseProgram(0);
}
void textureProjection(Matrix4x4f &mv) {
Matrix4x4f inverseMV = Matrix4x4f::invertMatrix(mv);
glMatrixMode(GL_TEXTURE);
glLoadIdentity();
glTranslatef(0.5f,0.5f,0.0f);//Bias
float wImg = textureW[textureIndex-1];
float hImg = textureH[textureIndex-1];
if (wImg < hImg) {
glScalef(1.0f,(1.f*wImg)/hImg,1.0f);//Scale
} else {
glScalef((1.f*hImg)/wImg,1.0f,1.0f);//Scale
}
glFrustum(-0.035,0.035,-0.035,0.035,0.02,2.0);//MV for light map
//glTranslatef(0.0f,0.0f,-1.0f);
glMultMatrixf(inverseMV.getMatrix());//Inverse ModelView
glMatrixMode(GL_MODELVIEW);
}
void Camera::LookUp(float angle)
{
if(pitch - angle > PI/2.0f - 0.1)
{
pitch = PI/2.0f - 0.1;
}
else if(pitch - angle < -PI/2.0f)
{
pitch = -PI/2.0f + 0.1;
}
else
pitch -= angle;
Matrix4x4f Rx = Matrix4x4f::RotationX(pitch);
Matrix4x4f Ry = Matrix4x4f::RotationY(yaw);
Matrix4x4f R = Ry * Rx;
forward = R.TransformVector(Vector3f(0, 0, -1));
right = R.TransformVector(Vector3f(1, 0, 0));
up = R.TransformVector(Vector3f(0, 1, 0));
}
void renderLightVolume(const MVPPipeline &program, const PointLight &light)
{
Matrix4x4f modelMatrix = Matrix4x4f::identity();
modelMatrix = modelMatrix.translate(light.position);
float scale = calcPointLightScale(light);
modelMatrix = modelMatrix.scale({scale, scale, scale});
glUniformMatrix4fv(program.modelMatrix, 1, GL_FALSE, modelMatrix.const_value_ptr());
Matrix4x4f viewMatrix = camera.getMatrix();
glUniformMatrix4fv(program.viewMatrix, 1, GL_FALSE, viewMatrix.const_value_ptr());
Matrix4x4f projectionMatrix = Matrix4x4f::perspective(60.0f, WINDOW_WIDTH * 1.0f / WINDOW_HEIGHT, 1.0f, 100.0f);
glUniformMatrix4fv(program.projectionMatrix, 1, GL_FALSE, projectionMatrix.const_value_ptr());
pSphereMesh->Render();
}
void renderScene()
{
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
glUseProgram(geometryPass.program);
Matrix4x4f viewMatrix = camera.getMatrix();
glUniformMatrix4fv(geometryPass.viewMatrix, 1, GL_FALSE, viewMatrix.const_value_ptr());
Matrix4x4f projectionMatrix = Matrix4x4f::perspective(60.0f, WINDOW_WIDTH * 1.0f / WINDOW_HEIGHT, 1.0f, 100.0f);
glUniformMatrix4fv(geometryPass.projectionMatrix, 1, GL_FALSE, projectionMatrix.const_value_ptr());
glUniform1i(geometryPass.textureSampler, 0);
for (size_t i = 0; i < sizeof(boxPositions) / sizeof(boxPositions[0]); i++) {
Matrix4x4f modelMatrix = Matrix4x4f::identity().translate(boxPositions[i]).rotatey(m_scale);
glUniformMatrix4fv(geometryPass.modelMatrix, 1, GL_FALSE, modelMatrix.const_value_ptr());
pBoxMesh->Render();
}
glUseProgram(0);
}
int main()
{
init();
if (SDL_Init(SDL_INIT_VIDEO) < 0)
{
fprintf(stderr, "SDL_Init failed: %s\n", SDL_GetError());
return 1;
}
atexit(SDL_Quit);
if (SDL_SetVideoMode(WINDOW_WIDTH, WINDOW_HEIGHT, 32, SDL_OPENGL) == 0)
{
fprintf(stderr, "SDL_SetVideoMode failed: %s\n", SDL_GetError());
return 1;
}
cam_to_clip = perspective<float>(45.f / 180.f * 3.14159265f, 1.f, 0.1f, 100.f);
Vector3f eye = Vector3f(4.f, 1.f, 4.f);
Vector3f center = Vector3f(0.f, 0.f, 0.f);
Vector3f up = Vector3f(0.f, 1.f, 0.f);
cam_to_view = look_at<float>(eye, center, up);
load_camera();
int prev_ticks = SDL_GetTicks();
int last_ticks = prev_ticks;
int frames = 0;
while (1)
{
int dt = SDL_GetTicks() - prev_ticks;
prev_ticks += dt;
// Handle events.
SDL_Event ev;
while (SDL_PollEvent(&ev))
{
switch (ev.type)
{
case SDL_KEYDOWN:
switch (ev.key.keysym.sym)
{
case SDLK_ESCAPE:
return 0;
case SDLK_1:
fprintf(stderr, "rendering using OpenGL\n");
mode = RENDER_GL;
last_ticks = SDL_GetTicks();
frames = 0;
break;
case SDLK_2:
fprintf(stderr, "rendering using cpu ray tracing\n");
mode = RENDER_RT_CPU;
last_ticks = SDL_GetTicks();
frames = 0;
break;
case SDLK_3:
fprintf(stderr, "rendering using cuda ray tracing\n");
mode = RENDER_RT_CUDA;
last_ticks = SDL_GetTicks();
frames = 0;
break;
case SDLK_u:
{
FILE* fp = fopen("camera.txt", "wt");
for (int i = 0; i < 16; i++)
fprintf(fp, "%f ", cam_to_view.data()[i]);
for (int i = 0; i < 16; i++)
fprintf(fp, "%f ", cam_to_clip.data()[i]);
fclose(fp);
fprintf(stderr, "saved camera to camera.txt\n");
}
break;
case SDLK_p:
load_camera();
break;
default:
break;
}
break;
case SDL_MOUSEMOTION:
if (ev.motion.state & 1)
{
float fdx = ev.motion.xrel / 400.;
float fdy = ev.motion.yrel / 400.;
cam_to_view =
rotate(Vector3f(1.0f, 0.0, 0.0), fdy) *
rotate(Vector3f(0.0, 1.0f, 0.0), fdx) *
cam_to_view;
}
break;
case SDL_QUIT:
return 0;
}
}
// Handle movement.
float dtf = dt / 1000.f;
Uint8* keys = SDL_GetKeyState(0);
if (keys[SDLK_UP] || keys[SDLK_w])
move(Vector3f(0.f, 0.f, move_speed) * dtf);
if (keys[SDLK_DOWN] || keys[SDLK_s])
move(Vector3f(0.f, 0.f, -move_speed) * dtf);
if (keys[SDLK_LEFT] || keys[SDLK_a])
move(Vector3f(move_speed, 0.f, 0.f) * dtf);
if (keys[SDLK_RIGHT] || keys[SDLK_d])
move(Vector3f(-move_speed, 0.f, 0.f) * dtf);
// Draw things.
switch (mode)
{
case RENDER_GL:
draw_gl();
break;
case RENDER_RT_CPU:
draw_rt_cpu();
break;
case RENDER_RT_CUDA:
draw_rt_cuda();
break;
};
SDL_GL_SwapBuffers();
// frames++;
// fprintf(stderr, "average %.2f\n", (SDL_GetTicks() - last_ticks) / (double)frames);
}
return 0;
}
void load(const char* fn)
{
FILE* fp = fopen(fn, "r");
for (;;)
{
Matrix4x4f m;
int n = fscanf(fp, "%f %f %f %f %f %f %f %f %f %f %f %f %f %f %f %f",
&m.data()[0], &m.data()[1], &m.data()[2], &m.data()[3],
&m.data()[4], &m.data()[5], &m.data()[6], &m.data()[7],
&m.data()[8], &m.data()[9], &m.data()[10], &m.data()[11],
&m.data()[12], &m.data()[13], &m.data()[14], &m.data()[15]);
if (n != 16)
break;
frames.push_back(m);
}
fclose(fp);
}
void ISprite::Update(f32 delta)
{
//IBasicMesh::Update(delta);
if (bPlaying && bAnimation)
{
fFrameTime += delta;
if (fFrameTime > fCurrentFrameRate)
{
fFrameTime -= fCurrentFrameRate;
if (iCurrentFrame + 1 == iFrames)
{
if (bLoop)
{
iCurrentFrame = 0;
}
else
{
bChanged = FALSE;
}
}
else
iCurrentFrame++;
u32 oldId = pFrame->iFileId;
pFrame = &pAnimationFrames[iCurrentFrame];
if (oldId != pFrame->iFileId)
{
sRelease(pFrameImage);
pFrameImage = static_cast<ITexture *>(pRes->Get(_F(pFrame->iFileId), Seed::ObjectTexture, pPool));
}
this->ReconfigureFrame();
}
}
if (!bChanged && !this->IsChanged())
return;
uPixel p = iColor;
p.rgba.r = iColor.argb.r;
p.rgba.g = iColor.argb.g;
p.rgba.b = iColor.argb.b;
p.rgba.a = iColor.argb.a;
if (!arCustomVertexData)
{
arCurrentVertexData = &vert[0];
vert[0].cVertex = Vector3f(-fAspectHalfWidth, -fAspectHalfHeight, (f32)iPriority);
vert[0].iColor = p;
vert[0].cCoords = Point2f(fTexS0, fTexT0);
vert[1].cVertex = Vector3f(+fAspectHalfWidth, -fAspectHalfHeight, (f32)iPriority);
vert[1].iColor = p;
vert[1].cCoords = Point2f(fTexS1, fTexT0);
vert[2].cVertex = Vector3f(-fAspectHalfWidth, +fAspectHalfHeight, (f32)iPriority);
vert[2].iColor = p;
vert[2].cCoords = Point2f(fTexS0, fTexT1);
vert[3].cVertex = Vector3f(+fAspectHalfWidth, +fAspectHalfHeight, (f32)iPriority);
vert[3].iColor = p;
vert[3].cCoords = Point2f(fTexS1, fTexT1);
}
else
{
arCurrentVertexData = arCustomVertexData;
}
f32 ratio = pScreen->GetAspectRatio();
f32 x = fAspectHalfWidth + ISprite::GetX();
f32 y = fAspectHalfHeight + ISprite::GetY() * ratio;
f32 lx = ISprite::GetLocalX();
f32 ly = ISprite::GetLocalY() * ratio;
Matrix4x4f t1, t2, r, s;
t1 = TranslationMatrix(lx + x, ly + y, 0.0f);
r = RotationMatrix(AxisZ, DegToRad(ISprite::GetRotation()));
s = ScaleMatrix(ISprite::GetScaleX(), ISprite::GetScaleY(), 1.0f);
t2 = TranslationMatrix(-lx, -ly, 0.0f);
Matrix4x4f transform = ((t1 * r) * s) * t2;
if (bTransformationChanged || !arCustomVertexData)
{
for (u32 i = 0; i < iNumVertices; i++)
{
transform.Transform(arCurrentVertexData[i].cVertex);
}
}
bChanged = FALSE;
bTransformationChanged = FALSE;
}
Matrix4x4f Matrix4x4f::identityMatrix() {
Matrix4x4f identity;
identity.setIdentity();
return identity;
}
std::vector<Vec3f> BoneBridgeCAL3D::ComputeBoundingBoxCorners(const CalBoundingBox& box) const
{
std::vector<Vec3f> corners;
// what we have is a set of 6 planes, stored as plane equation variables
// what we need is 8 points for drawing a box
// each point is the intersection of three of the planes
// what we need to do is choose each set of 3 planes that intersects at a viable corner
// begin at the beginning
corners.clear();
// iterate through all combinations of distinct planes a, b, c
for (int a = 0; a < 6-2; ++a)
{
for (int b = a+1; b < 6-1; ++b)
{
// if a and b are parallel, skip
if (PlanesParallel(box.plane[a], box.plane[b]))
{
continue;
}
for (int c = b+1; c < 6-0; ++c)
{
// the three planes indexed a, b, c potentially intersect at a viable corner
// if any two are parallel, we should skip this trio
// getting this far, we know a and b are not parallel -- let's check a,c and b,c
if (PlanesParallel(box.plane[a], box.plane[c]) || PlanesParallel(box.plane[b], box.plane[c]))
{
continue;
}
// we have three orthogonal planes, they should intersect at a single point, serving as a corner to the box
const Matrix4x4f M(
box.plane[a].a, box.plane[a].b, box.plane[a].c, 0,
box.plane[b].a, box.plane[b].b, box.plane[b].c, 0,
box.plane[c].a, box.plane[c].b, box.plane[c].c, 0,
0, 0, 0, 1);
const Matrix4x4f Mi = M.Inverse();
{
const Vec4f offsets(
box.plane[a].d,
box.plane[b].d,
box.plane[c].d,
0.0f);
const Vec4f corner = Mi * offsets;
const Vec3f fixedCorner(corner[X], corner[Y], -corner[Z]);
corners.push_back(fixedCorner);
}
}
}
}
// make sure we're all good
assert(corners.size() == 8);
return corners;
}
int CudaBVH::convert(BVHRT::Node* node, int idx)
{
assert(node);
assert(idx < (int)nodes.size());
int ret = idx + 1;
if (node->left)
{
// Negative index means leaf.
nodes[idx].left_idx = node->left->is_leaf() ? -ret : ret;
ret = convert(node->left, ret);
nodes[idx].right_idx = node->right->is_leaf() ? -ret : ret;
ret = convert(node->right, ret);
aabbs_x[idx].x = node->left->aabb.min.x;
aabbs_x[idx].y = node->left->aabb.max.x;
aabbs_x[idx].z = node->right->aabb.min.x;
aabbs_x[idx].w = node->right->aabb.max.x;
aabbs_y[idx].x = node->left->aabb.min.y;
aabbs_y[idx].y = node->left->aabb.max.y;
aabbs_y[idx].z = node->right->aabb.min.y;
aabbs_y[idx].w = node->right->aabb.max.y;
aabbs_z[idx].x = node->left->aabb.min.z;
aabbs_z[idx].y = node->left->aabb.max.z;
aabbs_z[idx].z = node->right->aabb.min.z;
aabbs_z[idx].w = node->right->aabb.max.z;
}
else
{
int n = (int)node->primitives.size();
nodes[idx].left_idx = (int)vertices.size();
nodes[idx].right_idx = (int)node->primitives.size() * 3;
for (int i = 0; i < n; i++)
{
const Primitive& prim = bvh->get_primitive(node->primitives[i]);
vertices.push_back(Vector4f(prim.v0, 1.f));
vertices.push_back(Vector4f(prim.v1, 1.f));
vertices.push_back(Vector4f(prim.v2, 1.f));
#if 0
Matrix4x4f m;
m.set_column(0, Vector4f(prim.v0 - prim.v2, 0.f));
m.set_column(1, Vector4f(prim.v1 - prim.v2, 0.f));
m.set_column(2, Vector4f(cross(prim.v0 - prim.v2, prim.v1 - prim.v2) - prim.v2, 0.f));
m.set_column(3, Vector4f(prim.v2, 0.f));
m = invert(m);
Vec4x3 v;
v.v[0] = Vector4f(m.get(2, 0), m.get(2, 1), m.get(2, 2), -m.get(2, 3));
v.v[1] = Vector4f(m.get(0, 0), m.get(0, 1), m.get(0, 2), m.get(0, 3));
v.v[2] = Vector4f(m.get(1, 0), m.get(1, 1), m.get(1, 2), m.get(1, 3));
woop_tris.push_back(v);
#endif
}
}
return ret;
}