// バウンディングボックスとの交差判定.
IZ_BOOL Frustum::isIntersect(
const BoundingVolume* const volume,
const math::SMatrix44& mtxW2V)
{
// ボックスの中心を取得.
auto center = volume->getCenter();
// カメラ座標系に変換.
math::SMatrix44::Apply(center, center, mtxW2V);
for (IZ_UINT i = 0; i < COUNTOF(m_planes); i++) {
math::CVector4 nml(
m_planes[i].x,
m_planes[i].y,
m_planes[i].z,
0.0f);
// 実効半径を計算.
auto radius = volume->computeRadius(mtxW2V, nml);
auto dot = math::SVector4::Dot(m_planes[i], center);
if (dot <= -radius) {
return IZ_FALSE;
}
}
return IZ_TRUE;
}
// バウンディングボックスとの交差判定.
IZ_BOOL Frustum::isIntersect(const BoundingVolume* const volume)
{
// ボックスの中心を取得.
auto center = volume->getCenter();
// World座標系で判定処理を行う.
for (IZ_UINT i = 0; i < COUNTOF(m_planes); i++) {
math::CVector4 nml(
m_planes[i].x,
m_planes[i].y,
m_planes[i].z,
0.0f);
// 実効半径を計算.
auto radius = volume->computeRadius(nml);
auto dot = math::SVector4::Dot(m_planes[i], center);
if (dot <= -radius) {
return IZ_FALSE;
}
}
return IZ_TRUE;
}
// Generate a COMPILED_METHOD_LOAD event for each nnmethod
jvmtiError JvmtiCodeBlobEvents::generate_compiled_method_load_events(JvmtiEnv* env) {
HandleMark hm;
// Walk the CodeCache notifying for live nmethods. The code cache
// may be changing while this is happening which is ok since newly
// created nmethod will notify normally and nmethods which are freed
// can be safely skipped.
MutexLockerEx mu(CodeCache_lock, Mutex::_no_safepoint_check_flag);
// Iterate over non-profiled and profiled nmethods
NMethodIterator iter;
while(iter.next_alive()) {
nmethod* current = iter.method();
// Lock the nmethod so it can't be freed
nmethodLocker nml(current);
// Don't hold the lock over the notify or jmethodID creation
MutexUnlockerEx mu(CodeCache_lock, Mutex::_no_safepoint_check_flag);
current->get_and_cache_jmethod_id();
JvmtiExport::post_compiled_method_load(current);
}
return JVMTI_ERROR_NONE;
}
static SCE_PFX_FORCE_INLINE
bool pfxContactTriangleConvex(PfxContactCache &contacts,PfxUInt32 facetId,
const PfxVector3 &normal,const PfxVector3 &p0,const PfxVector3 &p1,const PfxVector3 &p2,
const PfxFloat thickness,const PfxFloat angle0,const PfxFloat angle1,const PfxFloat angle2,
PfxUInt32 edgeChk,
const PfxConvexMesh &convex)
{
PfxVector3 facetPnts[6] = {
p0,p1,p2,p0-thickness*normal,p1-thickness*normal,p2-thickness*normal
};
PfxPoint3 pA(0.0f),pB(0.0f);
PfxVector3 nml(0.0f);
PfxGjkSolver gjk;
gjk.setup((void*)facetPnts,(void*)&convex,pfxGetSupportVertexTriangleWithThickness,pfxGetSupportVertexConvex);
PfxFloat d = gjk.collide(nml,pA,pB,PfxTransform3::identity(),PfxTransform3::identity(),SCE_PFX_FLT_MAX);
if(d >= 0.0f) return false;
PfxVector3 pointsOnTriangle = PfxVector3(pA);
PfxVector3 pointsOnConvex = PfxVector3(pB);
PfxVector3 axis = nml;
// 面上の最近接点が凸エッジ上でない場合は法線を変える
if( ((edgeChk&0x01)&&pfxPointOnLine(pointsOnTriangle,p0,p1)) ||
((edgeChk&0x02)&&pfxPointOnLine(pointsOnTriangle,p1,p2)) ||
((edgeChk&0x04)&&pfxPointOnLine(pointsOnTriangle,p2,p0)) ) {
axis=-normal;
}
PfxSubData subData;
subData.setFacetId(facetId);
contacts.addContactPoint(-length(pointsOnTriangle-pointsOnConvex),axis,pA,pB,subData);
return true;
}
void CCourse::CalcNormals () {
for (int y=0; y<ny; y++) {
for (int x=0; x<nx; x++) {
TVector3 nml(0.0, 0.0, 0.0);
TVector3 p0 (XCD(x), ELEV(x,y), ZCD(y));
if ((x + y) % 2 == 0) {
if (x > 0 && y > 0) {
TVector3 p1 = NMLPOINT(x, y-1);
TVector3 p2 = NMLPOINT(x-1,y-1);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
p1 = NMLPOINT (x-1, y-1);
p2 = NMLPOINT (x-1, y);
v1 = SubtractVectors (p1, p0);
v2 = SubtractVectors (p2, p0);
n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
}
if (x > 0 && y < ny-1) {
TVector3 p1 = NMLPOINT(x-1,y);
TVector3 p2 = NMLPOINT(x-1,y+1);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
p1 = NMLPOINT(x-1,y+1);
p2 = NMLPOINT(x ,y+1);
v1 = SubtractVectors (p1, p0);
v2 = SubtractVectors (p2, p0);
n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
}
if (x < nx-1 && y > 0) {
TVector3 p1 = NMLPOINT(x+1,y);
TVector3 p2 = NMLPOINT(x+1,y-1);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
p1 = NMLPOINT(x+1,y-1);
p2 = NMLPOINT(x ,y-1);
v1 = SubtractVectors (p1, p0);
v2 = SubtractVectors (p2, p0);
n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
}
if (x < nx-1 && y < ny-1) {
TVector3 p1 = NMLPOINT(x+1,y);
TVector3 p2 = NMLPOINT(x+1,y+1);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v1, v2);
NormVector (n);
nml = AddVectors (nml, n);
p1 = NMLPOINT(x+1,y+1);
p2 = NMLPOINT(x ,y+1);
v1 = SubtractVectors (p1, p0);
v2 = SubtractVectors (p2, p0);
n = CrossProduct (v1, v2);
NormVector (n);
nml = AddVectors (nml, n);
}
} else {
if (x > 0 && y > 0) {
TVector3 p1 = NMLPOINT(x, y-1);
TVector3 p2 = NMLPOINT(x-1,y);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
}
if (x > 0 && y < ny-1) {
TVector3 p1 = NMLPOINT(x-1,y);
TVector3 p2 = NMLPOINT(x ,y+1);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
}
if (x < nx-1 && y > 0) {
TVector3 p1 = NMLPOINT(x+1,y);
TVector3 p2 = NMLPOINT(x ,y-1);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v2, v1);
NormVector (n);
nml = AddVectors (nml, n);
}
if (x < nx-1 && y < ny-1) {
TVector3 p1 = NMLPOINT(x+1,y);
TVector3 p2 = NMLPOINT(x ,y+1);
TVector3 v1 = SubtractVectors (p1, p0);
TVector3 v2 = SubtractVectors (p2, p0);
TVector3 n = CrossProduct (v1, v2);
NormVector (n);
nml = AddVectors (nml, n);
}
}
NormVector (nml);
nmls [x + nx * y] = nml;
continue;
}
}
}
// retourne l'objet en World Coordinates
C3DObject* C3DObject::getWorldObject(void) {
C3DObject *o = new C3DObject;
unsigned i,j;
float *farray;
// sinus & cosinus
float cox = cos(orientation.x);
float six = sin(orientation.x);
float coy = cos(orientation.y);
float siy = sin(orientation.y);
float coz = cos(orientation.z);
float siz = sin(orientation.z);
// --- Rotation Matrix ---
SMLXMatrix Rx(4,4);
// initialise une matrice identite
for(j=0;j<4;j++) for(i=0;i<4;i++) Rx[j][i]=(i==j?1.0f:.0f);
Rx[1][1] = cox;
Rx[1][2] =-six;
Rx[2][1] = six;
Rx[2][2] = cox;
SMLXMatrix Ry(4,4);
// initialise une matrice identite
for(j=0;j<4;j++) for(i=0;i<4;i++) Ry[j][i]=(i==j?1.0f:.0f);
Ry[0][0] = coy;
Ry[0][2] = siy;
Ry[2][0] =-siy;
Ry[2][2] = coy;
SMLXMatrix Rz(4,4);
// initialise une matrice identite
for(j=0;j<4;j++) for(i=0;i<4;i++) Rz[j][i]=(i==j?1.0f:.0f);
Rz[0][0] = coz;
Rz[0][1] =-siz;
Rz[1][0] = siz;
Rz[1][1] = coz;
// Matrice tenant compte des 3 rotations
SMLXMatrix R = Rz*Ry*Rx;
// --- Scale Matrix ---
SMLXMatrix S(4,4);
for(j=0;j<4;j++) for(i=0;i<4;i++) S[j][i]=(i==j?1.0f:.0f);
farray = size.data();
for (i=0; i<3; i++) S[i][i] = farray[i];
// --- Translation Matrix ---
SMLXMatrix T(4,4);
for(j=0;j<4;j++) for(i=0;i<4;i++) T[j][i]=(i==j?1.0f:.0f);
farray = origin.data();
for (i=0; i<3; i++) T[i][3] = farray[i];
SMLXMatrix M = T*R*S;
o->set(*this);
// converti les vertices
for (unsigned v=0; v<o->nb_verts; v++) {
SMLXMatrix vec(4,1);
vec[0][0] = o->vertices[v].x;
vec[1][0] = o->vertices[v].y;
vec[2][0] = o->vertices[v].z;
vec[3][0] = 1.0f;
SMLXMatrix nvec = M*vec;
o->vertices[v].x = nvec[0][0];
o->vertices[v].y = nvec[1][0];
o->vertices[v].z = nvec[2][0];
}
// converti les normales (rotation seulement)
for (unsigned f=0; f<o->nb_faces; f++) {
SMLXMatrix vec(4,1);
vec[0][0] = o->faces[f].norm.x;
vec[1][0] = o->faces[f].norm.y;
vec[2][0] = o->faces[f].norm.z;
vec[3][0] = 1.0f;
SMLXMatrix nvec = R*vec;
o->faces[f].norm.x = nvec[0][0];
o->faces[f].norm.y = nvec[1][0];
o->faces[f].norm.z = nvec[2][0];
for (v=0; v<3; v++) {
SMLXMatrix nml(4,1);
nml[0][0] = o->faces[f].pt_norm[v].x;
nml[1][0] = o->faces[f].pt_norm[v].y;
nml[2][0] = o->faces[f].pt_norm[v].z;
nml[3][0] = 1.0f;
SMLXMatrix nnml = R*nml;
o->faces[f].pt_norm[v].x = nnml[0][0];
o->faces[f].pt_norm[v].y = nnml[1][0];
o->faces[f].pt_norm[v].z = nnml[2][0];
}
}
o->compute_bbox();
return o;
}
