void HomogeneousMatrixTest::testRPYConversions() {
double xExpected, yExpected, zExpected, rollExpected, pitchExpected, yawExpected;
double xActual, yActual, zActual, rollActual, pitchActual, yawActual;
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform1(new HomogeneousMatrix44());
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.5*M_PI;
pitchExpected = 0.0;
yawExpected = 0.0;
HomogeneousMatrix44::xyzRollPitchYawToMatrix(xExpected, yExpected, zExpected, rollExpected, pitchExpected, yawExpected, transform1);
std::cout << "---> transform1 " << std::endl <<*transform1;
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform1, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.0;
pitchExpected = 0.0;
yawExpected = 0.5 * M_PI;
Eigen::AngleAxis<double> rotation2(yawExpected, Eigen::Vector3d(0,0,1));
Transform3d transformation2;
transformation2 = Eigen::Affine3d::Identity();
transformation2.translate(Eigen::Vector3d(xExpected,yExpected,zExpected));
transformation2.rotate(rotation2);
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform2(new HomogeneousMatrix44(&transformation2));
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform2, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.0;
pitchExpected = 0.5 * M_PI;
yawExpected = 0;
Eigen::AngleAxis<double> rotation3(pitchExpected, Eigen::Vector3d(0,1,0));
Transform3d transformation3;
transformation3 = Eigen::Affine3d::Identity();
transformation3.translate(Eigen::Vector3d(xExpected,yExpected,zExpected));
transformation3.rotate(rotation3);
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform3(new HomogeneousMatrix44(&transformation3));
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform3, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
xExpected = 1.0;
yExpected = 2.0;
zExpected = 3.0;
rollExpected = 0.5 * M_PI;
pitchExpected = 0.0;
yawExpected = 0;
Eigen::AngleAxis<double> rotation4(rollExpected, Eigen::Vector3d(1,0,0));
Transform3d transformation4;
transformation4 = Eigen::Affine3d::Identity();
transformation4.translate(Eigen::Vector3d(xExpected,yExpected,zExpected));
transformation4.rotate(rotation4);
IHomogeneousMatrix44::IHomogeneousMatrix44Ptr transform4(new HomogeneousMatrix44(&transformation4));
HomogeneousMatrix44::matrixToXyzRollPitchYaw(transform4, xActual, yActual, zActual, rollActual, pitchActual, yawActual);
std::cout << "---> transform4 " << std::endl <<*transform4;
CPPUNIT_ASSERT_DOUBLES_EQUAL(xExpected, xActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yExpected, yActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(zExpected, zActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(rollExpected, rollActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(pitchExpected, pitchActual, maxTolerance);
CPPUNIT_ASSERT_DOUBLES_EQUAL(yawExpected, yawActual, maxTolerance);
/* CHecke if Eigen generated and xyzRPY generated _matices_ are similar */
const double* matrixData1 = transform1->getRawData();
const double* matrixData4 = transform4->getRawData();
for (unsigned int i = 0; i < 16; ++i) {
CPPUNIT_ASSERT_DOUBLES_EQUAL(matrixData1[i], matrixData4[i], maxTolerance);
}
}
int main()
{
int width = 640;
int height = 480;
if(glfwInit() == GL_FALSE)
{
std::cerr << "failed to init GLFW" << std::endl;
return 1;
}
// select opengl version
glfwOpenWindowHint(GLFW_OPENGL_PROFILE, GLFW_OPENGL_CORE_PROFILE);
glfwOpenWindowHint(GLFW_OPENGL_VERSION_MAJOR, 3);
glfwOpenWindowHint(GLFW_OPENGL_VERSION_MINOR, 3);
// create a window
if(glfwOpenWindow(width, height, 0, 0, 0, 8, 24, 8, GLFW_WINDOW) == GL_FALSE)
{
std::cerr << "failed to open window" << std::endl;
glfwTerminate();
return 1;
}
// setup windows close callback
glfwSetWindowCloseCallback(closedWindow);
// this time we disable the mouse cursor since we want differential
// mouse input
glfwDisable(GLFW_MOUSE_CURSOR);
if (gl3wInit())
{
std::cerr << "failed to init GL3W" << std::endl;
glfwCloseWindow();
glfwTerminate();
return 1;
}
// draw shader
std::string vertex_source =
"#version 330\n"
"uniform mat4 ViewProjection;\n"
"layout(location = 0) in vec4 vposition;\n"
"layout(location = 1) in vec3 normal;\n"
"out vec4 fcolor;\n"
"void main() {\n"
" float brightness = dot(normal,normalize(vec3(1,2,3)));\n"
" brightness = 0.3+((brightness>0)?0.7*brightness:0.3*brightness);\n"
" fcolor = vec4(brightness,brightness,brightness,1);\n"
" gl_Position = ViewProjection*vposition;\n"
"}\n";
std::string fragment_source =
"#version 330\n"
"in vec4 fcolor;\n"
"layout(location = 0) out vec4 FragColor;\n"
"void main() {\n"
" FragColor = abs(fcolor);\n"
"}\n";
// program and shader handles
GLuint shader_program, vertex_shader, fragment_shader;
// we need these to properly pass the strings
const char *source;
int length;
// create and compiler vertex shader
vertex_shader = glCreateShader(GL_VERTEX_SHADER);
source = vertex_source.c_str();
length = vertex_source.size();
glShaderSource(vertex_shader, 1, &source, &length);
glCompileShader(vertex_shader);
if(!check_shader_compile_status(vertex_shader))
{
return 1;
}
// create and compiler fragment shader
fragment_shader = glCreateShader(GL_FRAGMENT_SHADER);
source = fragment_source.c_str();
length = fragment_source.size();
glShaderSource(fragment_shader, 1, &source, &length);
glCompileShader(fragment_shader);
if(!check_shader_compile_status(fragment_shader))
{
return 1;
}
// create program
shader_program = glCreateProgram();
// attach shaders
glAttachShader(shader_program, vertex_shader);
glAttachShader(shader_program, fragment_shader);
// link the program and check for errors
glLinkProgram(shader_program);
check_program_link_status(shader_program);
// obtain location of projection uniform
GLint DrawViewProjection_location = glGetUniformLocation(shader_program, "ViewProjection");
// trivial shader for occlusion queries
std::string query_vertex_source =
"#version 330\n"
"uniform mat4 ViewProjection;\n"
"layout(location = 0) in vec4 vposition;\n"
"void main() {\n"
" gl_Position = ViewProjection*vposition;\n"
"}\n";
std::string query_fragment_source =
"#version 330\n"
"void main() {\n"
"}\n";
// program and shader handles
GLuint query_shader_program, query_vertex_shader, query_fragment_shader;
// create and compiler vertex shader
query_vertex_shader = glCreateShader(GL_VERTEX_SHADER);
source = query_vertex_source.c_str();
length = query_vertex_source.size();
glShaderSource(query_vertex_shader, 1, &source, &length);
glCompileShader(query_vertex_shader);
if(!check_shader_compile_status(query_vertex_shader))
{
return 1;
}
// create and compiler fragment shader
query_fragment_shader = glCreateShader(GL_FRAGMENT_SHADER);
source = query_fragment_source.c_str();
length = query_fragment_source.size();
glShaderSource(query_fragment_shader, 1, &source, &length);
glCompileShader(query_fragment_shader);
if(!check_shader_compile_status(query_fragment_shader))
{
return 1;
}
// create program
query_shader_program = glCreateProgram();
// attach shaders
glAttachShader(query_shader_program, query_vertex_shader);
glAttachShader(query_shader_program, query_fragment_shader);
// link the program and check for errors
glLinkProgram(query_shader_program);
check_program_link_status(query_shader_program);
// obtain location of projection uniform
GLint QueryViewProjection_location = glGetUniformLocation(query_shader_program, "ViewProjection");
// chunk container and chunk parameters
std::vector<Chunk> chunks;
int chunkrange = 4;
int chunksize = 32;
// chunk extraction
std::cout << "generating chunks, this may take a while." << std::endl;
// iterate over all chunks we want to extract
for(int i = -chunkrange;i<chunkrange;++i)
for(int j = -chunkrange;j<chunkrange;++j)
for(int k = -chunkrange;k<chunkrange;++k)
{
Chunk chunk;
// chunk data
// generate and bind the vao
glGenVertexArrays(1, &chunk.vao);
glBindVertexArray(chunk.vao);
// generate and bind the vertex buffer object
glGenBuffers(1, &chunk.vbo);
glBindBuffer(GL_ARRAY_BUFFER, chunk.vbo);
std::vector<glm::vec3> vertexData;
glm::vec3 offset = static_cast<float>(chunksize) * glm::vec3(i,j,k);
float threshold = 0.0f;
// iterate over all blocks within the chunk
for(int x = 0;x<chunksize;++x)
for(int y = 0;y<chunksize;++y)
for(int z = 0;z<chunksize;++z)
{
glm::vec3 pos = glm::vec3(x,y,z) + offset;
// insert quads if current block is solid and neighbors are not
if(world_function(pos)<threshold)
{
if(world_function(pos+glm::vec3(1,0,0))>=threshold)
{
vertexData.push_back(pos+0.5f*glm::vec3( 1, 1, 1));
vertexData.push_back(glm::vec3( 1, 0, 0));
vertexData.push_back(pos+0.5f*glm::vec3( 1,-1, 1));
vertexData.push_back(glm::vec3( 1, 0, 0));
vertexData.push_back(pos+0.5f*glm::vec3( 1, 1,-1));
vertexData.push_back(glm::vec3( 1, 0, 0));
vertexData.push_back(pos+0.5f*glm::vec3( 1,-1,-1));
vertexData.push_back(glm::vec3( 1, 0, 0));
}
if(world_function(pos+glm::vec3(0,1,0))>=threshold)
{
vertexData.push_back(pos+0.5f*glm::vec3( 1, 1, 1));
vertexData.push_back(glm::vec3( 0, 1, 0));
vertexData.push_back(pos+0.5f*glm::vec3( 1, 1,-1));
vertexData.push_back(glm::vec3( 0, 1, 0));
vertexData.push_back(pos+0.5f*glm::vec3(-1, 1, 1));
vertexData.push_back(glm::vec3( 0, 1, 0));
vertexData.push_back(pos+0.5f*glm::vec3(-1, 1,-1));
vertexData.push_back(glm::vec3( 0, 1, 0));
}
if(world_function(pos+glm::vec3(0,0,1))>=threshold)
{
vertexData.push_back(pos+0.5f*glm::vec3( 1, 1, 1));
vertexData.push_back(glm::vec3( 0, 0, 1));
vertexData.push_back(pos+0.5f*glm::vec3(-1, 1, 1));
vertexData.push_back(glm::vec3( 0, 0, 1));
vertexData.push_back(pos+0.5f*glm::vec3( 1,-1, 1));
vertexData.push_back(glm::vec3( 0, 0, 1));
vertexData.push_back(pos+0.5f*glm::vec3(-1,-1, 1));
vertexData.push_back(glm::vec3( 0, 0, 1));
}
if(world_function(pos-glm::vec3(1,0,0))>=threshold)
{
vertexData.push_back(pos+0.5f*glm::vec3(-1, 1, 1));
vertexData.push_back(glm::vec3(-1, 0, 0));
vertexData.push_back(pos+0.5f*glm::vec3(-1, 1,-1));
vertexData.push_back(glm::vec3(-1, 0, 0));
vertexData.push_back(pos+0.5f*glm::vec3(-1,-1, 1));
vertexData.push_back(glm::vec3(-1, 0, 0));
vertexData.push_back(pos+0.5f*glm::vec3(-1,-1,-1));
vertexData.push_back(glm::vec3(-1, 0, 0));
}
if(world_function(pos-glm::vec3(0,1,0))>=threshold)
{
vertexData.push_back(pos+0.5f*glm::vec3( 1,-1, 1));
vertexData.push_back(glm::vec3( 0,-1, 0));
vertexData.push_back(pos+0.5f*glm::vec3(-1,-1, 1));
vertexData.push_back(glm::vec3( 0,-1, 0));
vertexData.push_back(pos+0.5f*glm::vec3( 1,-1,-1));
vertexData.push_back(glm::vec3( 0,-1, 0));
vertexData.push_back(pos+0.5f*glm::vec3(-1,-1,-1));
vertexData.push_back(glm::vec3( 0,-1, 0));
}
if(world_function(pos-glm::vec3(0,0,1))>=threshold)
{
vertexData.push_back(pos+0.5f*glm::vec3( 1, 1,-1));
vertexData.push_back(glm::vec3( 0, 0,-1));
vertexData.push_back(pos+0.5f*glm::vec3( 1,-1,-1));
vertexData.push_back(glm::vec3( 0, 0,-1));
vertexData.push_back(pos+0.5f*glm::vec3(-1, 1,-1));
vertexData.push_back(glm::vec3( 0, 0,-1));
vertexData.push_back(pos+0.5f*glm::vec3(-1,-1,-1));
vertexData.push_back(glm::vec3( 0, 0,-1));
}
}
}
// upload
glBufferData(GL_ARRAY_BUFFER, sizeof(glm::vec3)*vertexData.size(), &vertexData[0], GL_STATIC_DRAW);
// set up generic attrib pointers
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), (char*)0 + 0*sizeof(GLfloat));
glEnableVertexAttribArray(1);
glVertexAttribPointer(1, 3, GL_FLOAT, GL_FALSE, 6*sizeof(GLfloat), (char*)0 + 3*sizeof(GLfloat));
// generate and bind the index buffer object
glGenBuffers(1, &chunk.ibo);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, chunk.ibo);
chunk.quadcount = vertexData.size()/8;
std::vector<GLuint> indexData(6*chunk.quadcount);
for(int i = 0;i<chunk.quadcount;++i)
{
indexData[6*i + 0] = 4*i + 0;
indexData[6*i + 1] = 4*i + 1;
indexData[6*i + 2] = 4*i + 2;
indexData[6*i + 3] = 4*i + 2;
indexData[6*i + 4] = 4*i + 1;
indexData[6*i + 5] = 4*i + 3;
}
// upload
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLuint)*indexData.size(), &indexData[0], GL_STATIC_DRAW);
// chunk bounding box
// generate and bind the vao
glGenVertexArrays(1, &chunk.bounding_vao);
glBindVertexArray(chunk.bounding_vao);
// generate and bind the vertex buffer object
glGenBuffers(1, &chunk.bounding_vbo);
glBindBuffer(GL_ARRAY_BUFFER, chunk.bounding_vbo);
// data for the bounding cube
GLfloat boundingVertexData[] = {
// X Y Z
// face 0:
offset.x+chunksize-0.5f, offset.y+chunksize-0.5f, offset.z+chunksize-0.5f,
offset.x-0.5f, offset.y+chunksize-0.5f, offset.z+chunksize-0.5f,
offset.x+chunksize-0.5f, offset.y-0.5f, offset.z+chunksize-0.5f,
offset.x-0.5f, offset.y-0.5f, offset.z+chunksize-0.5f,
// face 1:
offset.x+chunksize-0.5f, offset.y+chunksize-0.5f, offset.z+chunksize-0.5f,
offset.x+chunksize-0.5f, offset.y-0.5f, offset.z+chunksize-0.5f,
offset.x+chunksize-0.5f, offset.y+chunksize-0.5f, offset.z-0.5f,
offset.x+chunksize-0.5f, offset.y-0.5f, offset.z-0.5f,
// face 2:
offset.x+chunksize-0.5f, offset.y+chunksize-0.5f, offset.z+chunksize-0.5f,
offset.x+chunksize-0.5f, offset.y+chunksize-0.5f, offset.z-0.5f,
offset.x-0.5f, offset.y+chunksize-0.5f, offset.z+chunksize-0.5f,
offset.x-0.5f, offset.y+chunksize-0.5f, offset.z-0.5f,
// face 3:
offset.x+chunksize-0.5f, offset.y+chunksize-0.5f, offset.z-0.5f,
offset.x+chunksize-0.5f, offset.y-0.5f, offset.z-0.5f,
offset.x-0.5f, offset.y+chunksize-0.5f, offset.z-0.5f,
offset.x-0.5f, offset.y-0.5f, offset.z-0.5f,
// face 4:
offset.x-0.5f, offset.y+chunksize-0.5f, offset.z+chunksize-0.5f,
offset.x-0.5f, offset.y+chunksize-0.5f, offset.z-0.5f,
offset.x-0.5f, offset.y-0.5f, offset.z+chunksize-0.5f,
offset.x-0.5f, offset.y-0.5f, offset.z-0.5f,
// face 5:
offset.x+chunksize-0.5f, offset.y-0.5f, offset.z+chunksize-0.5f,
offset.x-0.5f, offset.y-0.5f, offset.z+chunksize-0.5f,
offset.x+chunksize-0.5f, offset.y-0.5f, offset.z-0.5f,
offset.x-0.5f, offset.y-0.5f, offset.z-0.5f,
}; // 6 faces with 4 vertices with 6 components (floats)
// fill with data
glBufferData(GL_ARRAY_BUFFER, sizeof(GLfloat)*6*4*3, boundingVertexData, GL_STATIC_DRAW);
// set up generic attrib pointers
glEnableVertexAttribArray(0);
glVertexAttribPointer(0, 3, GL_FLOAT, GL_FALSE, 3*sizeof(GLfloat), (char*)0 + 0*sizeof(GLfloat));
// generate and bind the index buffer object
glGenBuffers(1, &chunk.bounding_ibo);
glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, chunk.bounding_ibo);
GLuint boundingIndexData[] = {
0, 1, 2, 2, 1, 3, 4, 5, 6, 6, 5, 7, 8, 9,10,10, 9,11,
12,13,14,14,13,15,16,17,18,18,17,19,20,21,22,22,21,23,
};
// fill with data
glBufferData(GL_ELEMENT_ARRAY_BUFFER, sizeof(GLuint)*6*2*3, boundingIndexData, GL_STATIC_DRAW);
// generate the query object for the occlusion query
glGenQueries(1, &chunk.query);
// set the center location of the chunk
chunk.center = offset + 0.5f*chunksize;
// add to container
chunks.push_back(chunk);
}
// "unbind" vao
glBindVertexArray(0);
// timer query setup
// use multiple queries to avoid stalling on getting the results
const int querycount = 5;
GLuint queries[querycount];
int current_query = 0;
glGenQueries(querycount, queries);
// we are drawing 3d objects so we want depth testing
glEnable(GL_DEPTH_TEST);
// camera position and orientation
glm::vec3 position;
glm::mat4 rotation = glm::mat4(1.0f);
running = true;
float t = glfwGetTime();
bool occlusion_cull = true;
bool space_down = false;
// mouse position
int mousex, mousey;
glfwGetMousePos(&mousex, &mousey);
while(running)
{
// calculate timestep
float new_t = glfwGetTime();
float dt = new_t - t;
t = new_t;
// update mouse differential
int tmpx, tmpy;
glfwGetMousePos(&tmpx, &tmpy);
glm::vec2 mousediff(tmpx-mousex, tmpy-mousey);
mousex = tmpx;
mousey = tmpy;
// find up, forward and right vector
glm::mat3 rotation3(rotation);
glm::vec3 up = glm::transpose(rotation3)*glm::vec3(0.0f, 1.0f, 0.0f);
glm::vec3 right = glm::transpose(rotation3)*glm::vec3(1.0f, 0.0f, 0.0f);
glm::vec3 forward = glm::transpose(rotation3)*glm::vec3(0.0f, 0.0f,-1.0f);
// apply mouse rotation
rotation = glm::rotate(rotation, 0.2f*mousediff.x, up);
rotation = glm::rotate(rotation, 0.2f*mousediff.y, right);
// roll
if(glfwGetKey('Q'))
{
rotation = glm::rotate(rotation, 180.0f*dt, forward);
}
if(glfwGetKey('E'))
{
rotation = glm::rotate(rotation,-180.0f*dt, forward);
}
// movement
if(glfwGetKey('W'))
{
position += 10.0f*dt*forward;
}
if(glfwGetKey('S'))
{
position -= 10.0f*dt*forward;
}
if(glfwGetKey('D'))
{
position += 10.0f*dt*right;
}
if(glfwGetKey('A'))
{
position -= 10.0f*dt*right;
}
// toggle occlusion culling
if(glfwGetKey(GLFW_KEY_SPACE) && !space_down)
{
occlusion_cull = !occlusion_cull;
}
space_down = glfwGetKey(GLFW_KEY_SPACE);
// terminate on escape
if(glfwGetKey(GLFW_KEY_ESC))
{
running = false;
}
// calculate ViewProjection matrix
glm::mat4 Projection = glm::perspective(90.0f, 4.0f / 3.0f, 0.1f, 200.f);
glm::mat4 View = rotation*glm::translate(glm::mat4(1.0f), -position);
glm::mat4 ViewProjection = Projection*View;
// set matrices for both shaders
glUseProgram(query_shader_program);
glUniformMatrix4fv(QueryViewProjection_location, 1, GL_FALSE, glm::value_ptr(ViewProjection));
glUseProgram(shader_program);
glUniformMatrix4fv(DrawViewProjection_location, 1, GL_FALSE, glm::value_ptr(ViewProjection));
// set clear color to sky blue
glClearColor(0.5f,0.8f,1.0f,1.0f);
// clear
glClear(GL_COLOR_BUFFER_BIT | GL_DEPTH_BUFFER_BIT);
// sort chunks by distance
std::sort(chunks.begin(), chunks.end(), DistancePred(position));
size_t i = 0;
float maxdist = chunksize;
// start timer query
glBeginQuery(GL_TIME_ELAPSED, queries[current_query]);
// peel chunks
while(i!=chunks.size())
{
size_t j = i;
if(occlusion_cull)
{
// start occlusion queries and render for the current slice
glDisable(GL_CULL_FACE);
// we don't want the queries to actually render something
glDepthMask(GL_FALSE);
glColorMask(GL_FALSE, GL_FALSE, GL_FALSE, GL_FALSE);
glUseProgram(query_shader_program);
for(;j<chunks.size() && glm::distance(chunks[j].center, position)<maxdist;++j)
{
// frustum culling
glm::vec4 projected = ViewProjection*glm::vec4(chunks[j].center,1);
if( (glm::distance(chunks[j].center,position) > chunksize) &&
(std::max(std::abs(projected.x), std::abs(projected.y)) > projected.w+chunksize))
continue;
// begin occlusion query
glBeginQuery(GL_ANY_SAMPLES_PASSED, chunks[j].query);
// draw bounding box
glBindVertexArray(chunks[j].bounding_vao);
glDrawElements(GL_TRIANGLES, 6*6, GL_UNSIGNED_INT, 0);
// end occlusion query
glEndQuery(GL_ANY_SAMPLES_PASSED);
}
j = i;
}
// render the current slice
glEnable(GL_CULL_FACE);
// turn rendering back on
glDepthMask(GL_TRUE);
glColorMask(GL_TRUE, GL_TRUE, GL_TRUE, GL_TRUE);
glUseProgram(shader_program);
for(;j<chunks.size() && glm::distance(chunks[j].center, position)<maxdist;++j)
{
// frustum culling
glm::vec4 projected = ViewProjection*glm::vec4(chunks[j].center,1);
if( (glm::distance(chunks[j].center,position) > chunksize) &&
(std::max(std::abs(projected.x), std::abs(projected.y)) > projected.w+chunksize))
continue;
// begin conditional render
if(occlusion_cull)
glBeginConditionalRender(chunks[j].query, GL_QUERY_BY_REGION_WAIT);
// draw chunk
glBindVertexArray(chunks[j].vao);
glDrawElements(GL_TRIANGLES, 6*chunks[j].quadcount, GL_UNSIGNED_INT, 0);
// end conditional render
if(occlusion_cull)
glEndConditionalRender();
}
i = j;
maxdist += 2*chunksize;
}
// end timer query
glEndQuery(GL_TIME_ELAPSED);
// display timer query results from querycount frames before
if(GL_TRUE == glIsQuery(queries[(current_query+1)%querycount]))
{
GLuint64 result;
glGetQueryObjectui64v(queries[(current_query+1)%querycount], GL_QUERY_RESULT, &result);
std::cout << result*1.e-6 << " ms/frame" << std::endl;
}
// advance query counter
current_query = (current_query + 1)%querycount;
// check for errors
GLenum error = glGetError();
if(error != GL_NO_ERROR)
{
std::cerr << gluErrorString(error);
running = false;
}
// finally swap buffers
glfwSwapBuffers();
}
// delete the created objects
for(size_t i = 0;i<chunks.size();++i)
{
glDeleteVertexArrays(1, &chunks[i].vao);
glDeleteBuffers(1, &chunks[i].vbo);
glDeleteBuffers(1, &chunks[i].ibo);
glDeleteVertexArrays(1, &chunks[i].bounding_vao);
glDeleteBuffers(1, &chunks[i].bounding_vbo);
glDeleteBuffers(1, &chunks[i].bounding_ibo);
glDeleteQueries(1, &chunks[i].query);
}
glDeleteQueries(querycount, queries);
glDetachShader(shader_program, vertex_shader);
glDetachShader(shader_program, fragment_shader);
glDeleteShader(vertex_shader);
glDeleteShader(fragment_shader);
glDeleteProgram(shader_program);
glDetachShader(query_shader_program, query_vertex_shader);
glDetachShader(query_shader_program, query_fragment_shader);
glDeleteShader(query_vertex_shader);
glDeleteShader(query_fragment_shader);
glDeleteProgram(query_shader_program);
glfwCloseWindow();
glfwTerminate();
return 0;
}