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00044 #include "OSGConfig.h"
00045
00046 #include <iostream>
00047
00048 #include <cassert>
00049
00050 #include "OSGFrustumVolume.h"
00051 #include "OSGLog.h"
00052 #include "OSGMatrix.h"
00053 #include "OSGLine.h"
00054
00055
00062 OSG_BEGIN_NAMESPACE
00063
00064
00065
00066 void FrustumVolume::getCenter(Pnt3r ¢er) const
00067 {
00068 Pnt3r vertices[8];
00069 Line lines [4];
00070
00071 _planeVec[5].intersect(_planeVec[3],lines[3]);
00072 _planeVec[3].intersect(_planeVec[4],lines[2]);
00073 _planeVec[4].intersect(_planeVec[2],lines[0]);
00074 _planeVec[2].intersect(_planeVec[5],lines[1]);
00075
00076 for(Int32 i = 0; i < 4; i++)
00077 {
00078 _planeVec[0].intersectInfinite(lines[i],vertices[ i]);
00079 _planeVec[1].intersectInfinite(lines[i],vertices[4 + i]);
00080 }
00081
00082 center = Pnt3r(0.f, 0.f ,0.f);
00083
00084 for(Int32 i = 0; i < 8; i++)
00085 {
00086 center = center + vertices[i].subZero();
00087 }
00088
00089 center /= 8.f;
00090 }
00091
00092
00093 Real FrustumVolume::getScalarVolume() const
00094 {
00095 const Int32 faces[6][4] =
00096 {
00097 {0,1,3,2},
00098 {4,5,7,6},
00099 {0,4,5,1},
00100 {2,6,7,3},
00101 {2,6,4,0},
00102 {1,5,7,3}
00103 };
00104
00105 Pnt3r vertices[8];
00106 Line lines [4];
00107
00108 _planeVec[5].intersect(_planeVec[3], lines[3]);
00109 _planeVec[3].intersect(_planeVec[4], lines[2]);
00110 _planeVec[4].intersect(_planeVec[2], lines[0]);
00111 _planeVec[2].intersect(_planeVec[5], lines[1]);
00112
00113 for(Int32 i = 0; i < 4; i++)
00114 {
00115 _planeVec[0].intersectInfinite(lines[i], vertices[ i]);
00116 _planeVec[1].intersectInfinite(lines[i], vertices[4 + i]);
00117 }
00118
00119
00120 Pnt3r center = Pnt3r(0.f, 0.f, 0.f);
00121
00122 for(Int32 i = 0; i < 8; i++)
00123 {
00124 center = center + vertices[i].subZero();
00125 }
00126
00127 center /= 8.f;
00128
00129 Real volume = .0f;
00130
00131 for(Int32 i = 0; i < 6; i++)
00132 {
00133 Real height;
00134 Real area;
00135
00136 height =
00137 _planeVec[i].getNormal().dot(center) -
00138 _planeVec[i].getDistanceFromOrigin();
00139
00140 Vec3r main_diag = vertices[faces[i][0]] - vertices[faces[i][2]];
00141 Vec3r sec_diag = vertices[faces[i][1]] - vertices[faces[i][3]];
00142
00143 area = osgAbs((main_diag.cross(sec_diag)).length() / 2.f);
00144
00145 volume += osgAbs((height*area)) / 3.f;
00146 }
00147
00148 return volume;
00149 }
00150
00151
00155 void FrustumVolume::getBounds(Pnt3r &minPnt,
00156 Pnt3r &maxPnt ) const
00157 {
00158 Pnt3r corners[8];
00159
00160 this->getCorners(corners[0], corners[1], corners[2], corners[3],
00161 corners[4], corners[5], corners[6], corners[7] );
00162
00163 minPnt[0] = TypeTraits<Pnt3r::ValueType>::getMax();
00164 minPnt[1] = TypeTraits<Pnt3r::ValueType>::getMax();
00165 minPnt[2] = TypeTraits<Pnt3r::ValueType>::getMax();
00166
00167 maxPnt[0] = TypeTraits<Pnt3r::ValueType>::getMin();
00168 maxPnt[1] = TypeTraits<Pnt3r::ValueType>::getMin();
00169 maxPnt[2] = TypeTraits<Pnt3r::ValueType>::getMin();
00170
00171 for(UInt32 i = 0; i < 8; ++i)
00172 {
00173 minPnt[0] = osgMin(minPnt[0], corners[i][0]);
00174 minPnt[1] = osgMin(minPnt[1], corners[i][1]);
00175 minPnt[2] = osgMin(minPnt[2], corners[i][2]);
00176
00177 maxPnt[0] = osgMax(maxPnt[0], corners[i][0]);
00178 maxPnt[1] = osgMax(maxPnt[1], corners[i][1]);
00179 maxPnt[2] = osgMax(maxPnt[2], corners[i][2]);
00180 }
00181 }
00182
00185 void FrustumVolume::getCorners(Pnt3r &nlt, Pnt3r &nlb,
00186 Pnt3r &nrt, Pnt3r &nrb,
00187 Pnt3r &flt, Pnt3r &flb,
00188 Pnt3r &frt, Pnt3r &frb ) const
00189 {
00190 Line edges[4];
00191
00192 _planeVec[PLANE_BOTTOM].intersect(_planeVec[PLANE_RIGHT ], edges[3]);
00193 _planeVec[PLANE_RIGHT ].intersect(_planeVec[PLANE_TOP ], edges[2]);
00194 _planeVec[PLANE_TOP ].intersect(_planeVec[PLANE_LEFT ], edges[0]);
00195 _planeVec[PLANE_LEFT ].intersect(_planeVec[PLANE_BOTTOM], edges[1]);
00196
00197 _planeVec[PLANE_NEAR].intersectInfinite(edges[0], nlt);
00198 _planeVec[PLANE_FAR ].intersectInfinite(edges[0], flt);
00199 _planeVec[PLANE_NEAR].intersectInfinite(edges[1], nlb);
00200 _planeVec[PLANE_FAR ].intersectInfinite(edges[1], flb);
00201 _planeVec[PLANE_NEAR].intersectInfinite(edges[2], nrt);
00202 _planeVec[PLANE_FAR ].intersectInfinite(edges[2], frt);
00203 _planeVec[PLANE_NEAR].intersectInfinite(edges[3], nrb);
00204 _planeVec[PLANE_FAR ].intersectInfinite(edges[3], frb);
00205 }
00206
00207
00208
00209 void FrustumVolume::setPlanes(const Plane &pnear, const Plane &pfar,
00210 const Plane &left, const Plane &right,
00211 const Plane &top, const Plane &bottom)
00212 {
00213 _planeVec[0] = pnear;
00214 _planeVec[1] = pfar;
00215 _planeVec[2] = left;
00216 _planeVec[3] = right;
00217 _planeVec[4] = top;
00218 _planeVec[5] = bottom;
00219 }
00220
00221
00222 void FrustumVolume::setPlanes(const Pnt3r &nlt, const Pnt3r &nlb,
00223 const Pnt3r &nrt, const Pnt3r &nrb,
00224 const Pnt3r &flt, const Pnt3r &flb,
00225 const Pnt3r &frt, const Pnt3r &frb)
00226 {
00227
00228 Plane pnear (nlb,nlt,nrb);
00229 Plane pfar (frb,frt,flb);
00230 Plane pleft (flb,flt,nlb);
00231 Plane pright (nrb,nrt,frb);
00232 Plane ptop (frt,nrt,flt);
00233 Plane pbottom(nlb,nrb,flb);
00234
00235
00236 _planeVec[0] = pnear;
00237 _planeVec[1] = pfar;
00238 _planeVec[2] = pleft;
00239 _planeVec[3] = pright;
00240 _planeVec[4] = ptop;
00241 _planeVec[5] = pbottom;
00242
00243 }
00244
00245
00246 void FrustumVolume::setPlanes(const Matrixr &objectClipMat)
00247 {
00248 Vec4r planeEquation[6];
00249 Real vectorLength;
00250 Vec3r normal;
00251
00252 planeEquation[0][0] = objectClipMat[0][3] - objectClipMat[0][0];
00253 planeEquation[0][1] = objectClipMat[1][3] - objectClipMat[1][0];
00254 planeEquation[0][2] = objectClipMat[2][3] - objectClipMat[2][0];
00255 planeEquation[0][3] = objectClipMat[3][3] - objectClipMat[3][0];
00256
00257 planeEquation[1][0] = objectClipMat[0][3] + objectClipMat[0][0];
00258 planeEquation[1][1] = objectClipMat[1][3] + objectClipMat[1][0];
00259 planeEquation[1][2] = objectClipMat[2][3] + objectClipMat[2][0];
00260 planeEquation[1][3] = objectClipMat[3][3] + objectClipMat[3][0];
00261
00262 planeEquation[2][0] = objectClipMat[0][3] + objectClipMat[0][1];
00263 planeEquation[2][1] = objectClipMat[1][3] + objectClipMat[1][1];
00264 planeEquation[2][2] = objectClipMat[2][3] + objectClipMat[2][1];
00265 planeEquation[2][3] = objectClipMat[3][3] + objectClipMat[3][1];
00266
00267 planeEquation[3][0] = objectClipMat[0][3] - objectClipMat[0][1];
00268 planeEquation[3][1] = objectClipMat[1][3] - objectClipMat[1][1];
00269 planeEquation[3][2] = objectClipMat[2][3] - objectClipMat[2][1];
00270 planeEquation[3][3] = objectClipMat[3][3] - objectClipMat[3][1];
00271
00272 planeEquation[4][0] = objectClipMat[0][3] + objectClipMat[0][2];
00273 planeEquation[4][1] = objectClipMat[1][3] + objectClipMat[1][2];
00274 planeEquation[4][2] = objectClipMat[2][3] + objectClipMat[2][2];
00275 planeEquation[4][3] = objectClipMat[3][3] + objectClipMat[3][2];
00276
00277 planeEquation[5][0] = objectClipMat[0][3] - objectClipMat[0][2];
00278 planeEquation[5][1] = objectClipMat[1][3] - objectClipMat[1][2];
00279 planeEquation[5][2] = objectClipMat[2][3] - objectClipMat[2][2];
00280 planeEquation[5][3] = objectClipMat[3][3] - objectClipMat[3][2];
00281
00282 for(Int32 i = 0; i < 6; i++)
00283 {
00284 vectorLength =
00285 osgSqrt(planeEquation[i][0] * planeEquation[i][0] +
00286 planeEquation[i][1] * planeEquation[i][1] +
00287 planeEquation[i][2] * planeEquation[i][2]);
00288
00289 planeEquation[i][0] /= vectorLength;
00290 planeEquation[i][1] /= vectorLength;
00291 planeEquation[i][2] /= vectorLength;
00292 planeEquation[i][3] /= -vectorLength;
00293 }
00294
00295
00296 _planeVec[3].set(planeEquation[0]);
00297
00298
00299 _planeVec[2].set(planeEquation[1]);
00300
00301
00302 _planeVec[5].set(planeEquation[2]);
00303
00304
00305 _planeVec[4].set(planeEquation[3]);
00306
00307
00308 _planeVec[0].set(planeEquation[4]);
00309
00310
00311 _planeVec[1].set(planeEquation[5]);
00312 }
00313
00314
00315
00316
00317
00323 void FrustumVolume::extendBy(const Pnt3r &OSG_CHECK_ARG(pt))
00324 {
00325 }
00326
00331 void FrustumVolume::extendBy(const Volume &volume)
00332 {
00333 OSG::extend(*this, volume);
00334 }
00335
00336
00337
00338
00339 bool FrustumVolume::intersect(const Pnt3r &point) const
00340 {
00341 bool retCode = true;
00342
00343 for(Int32 i = 0; i < 6; i++)
00344 {
00345 if((_planeVec[i].getNormal().x() * point.x() +
00346 _planeVec[i].getNormal().y() * point.y() +
00347 _planeVec[i].getNormal().z() * point.z() -
00348 _planeVec[i].getDistanceFromOrigin() ) < 0.f)
00349 {
00350 retCode = false;
00351 break;
00352 }
00353 }
00354
00355 return retCode;
00356 }
00357
00358
00359 bool FrustumVolume::intersect(const Line &line) const
00360 {
00361 return line.intersect(*this);
00362 }
00363
00364
00365 bool FrustumVolume::intersect(const Line &line,
00366 Real &minDist,
00367 Real &maxDist) const
00368 {
00369 return line.intersect(*this, minDist, maxDist);
00370 }
00371
00372
00373 bool FrustumVolume::intersect(const Volume &volume) const
00374 {
00375 return OSG::intersect(*this, volume);
00376 }
00377
00383 bool FrustumVolume::isOnSurface(const Pnt3r &OSG_CHECK_ARG(point)) const
00384 {
00385 FWARNING(("FrustumVolume::isOnSurface: NYI!\n"));
00386 return false;
00387 }
00388
00389 void FrustumVolume::transform(const Matrixr &m)
00390 {
00391 _planeVec[0].transform(m);
00392 _planeVec[1].transform(m);
00393 _planeVec[2].transform(m);
00394 _planeVec[3].transform(m);
00395 _planeVec[4].transform(m);
00396 _planeVec[5].transform(m);
00397 }
00398
00399 FrustumVolume &FrustumVolume::operator =(const FrustumVolume &rhs)
00400 {
00401 if(this == &rhs)
00402 return *this;
00403
00404 for(Int32 i = 0; i < 6; i++)
00405 {
00406 _planeVec[i] = rhs._planeVec[i];
00407 }
00408
00409 _state = rhs._state;
00410
00411 return *this;
00412 }
00413
00414 bool FrustumVolume::operator ==(const FrustumVolume &rhs) const
00415 {
00416 return ((static_cast<const Volume &>(*this) == rhs) &&
00417 (_planeVec[0] == rhs._planeVec[0] ) &&
00418 (_planeVec[1] == rhs._planeVec[1] ) &&
00419 (_planeVec[2] == rhs._planeVec[2] ) &&
00420 (_planeVec[3] == rhs._planeVec[3] ) &&
00421 (_planeVec[4] == rhs._planeVec[4] ) &&
00422 (_planeVec[5] == rhs._planeVec[5] ));
00423 }
00424
00425 void FrustumVolume::dump( UInt32 OSG_CHECK_ARG(uiIndent),
00426 const BitVector OSG_CHECK_ARG(bvFlags )) const
00427 {
00428 #if 1
00429 fprintf(stderr,"Frustum:(%f %f %f:%f)(%f %f %f:%f)(%f %f %f:%f)"
00430 "(%f %f %f:%f)(%f %f %f:%f)(%f %f %f:%f)\n",
00431 _planeVec[0].getNormal()[0],
00432 _planeVec[0].getNormal()[1],
00433 _planeVec[0].getNormal()[2],
00434 _planeVec[0].getDistanceFromOrigin(),
00435 _planeVec[1].getNormal()[0],
00436 _planeVec[1].getNormal()[1],
00437 _planeVec[1].getNormal()[2],
00438 _planeVec[1].getDistanceFromOrigin(),
00439 _planeVec[2].getNormal()[0],
00440 _planeVec[2].getNormal()[1],
00441 _planeVec[2].getNormal()[2],
00442 _planeVec[2].getDistanceFromOrigin(),
00443 _planeVec[3].getNormal()[0],
00444 _planeVec[3].getNormal()[1],
00445 _planeVec[3].getNormal()[2],
00446 _planeVec[3].getDistanceFromOrigin(),
00447 _planeVec[4].getNormal()[0],
00448 _planeVec[4].getNormal()[1],
00449 _planeVec[4].getNormal()[2],
00450 _planeVec[4].getDistanceFromOrigin(),
00451 _planeVec[5].getNormal()[0],
00452 _planeVec[5].getNormal()[1],
00453 _planeVec[5].getNormal()[2],
00454 _planeVec[5].getDistanceFromOrigin() );
00455
00456
00457 #else
00458 print(PLOG);
00459 #endif
00460 }
00461
00462 void FrustumVolume::print(std::ostream &os) const
00463 {
00464 os << "Frustum ("
00465 << _planeVec[0].getNormal() << ":"
00466 << _planeVec[0].getDistanceFromOrigin() << "|"
00467 << _planeVec[1].getNormal() << ":"
00468 << _planeVec[1].getDistanceFromOrigin() << "|"
00469 << _planeVec[2].getNormal() << ":"
00470 << _planeVec[2].getDistanceFromOrigin() << "|"
00471 << _planeVec[3].getNormal() << ":"
00472 << _planeVec[3].getDistanceFromOrigin() << "|"
00473 << _planeVec[4].getNormal() << ":"
00474 << _planeVec[4].getDistanceFromOrigin() << "|"
00475 << _planeVec[5].getNormal() << ":"
00476 << _planeVec[5].getDistanceFromOrigin()
00477 << ") ";
00478 printState(os);
00479 }
00480
00481
00492 OSG_BASE_DLLMAPPING
00493 bool intersect(const OSG::FrustumVolume &frustum,
00494 const OSG::Volume &vol,
00495 OSG::FrustumVolume::PlaneSet &inplanes)
00496 {
00497
00498
00499
00500 if(vol.isEmpty() == true)
00501 {
00502 return false;
00503 }
00504 else if(vol.isInfinite() == true)
00505 {
00506 return true;
00507 }
00508 else
00509 {
00510 Pnt3r min, max;
00511
00512 vol.getBounds(min, max);
00513
00514 const Plane *frust = frustum.getPlanes();
00515 FrustumVolume::PlaneSet mask = 0x1;
00516
00517
00518
00519
00520 for(Int32 i = 0; i < 6; i++, mask <<= 1)
00521 {
00522 if((inplanes & mask) != 0)
00523 continue;
00524
00525 if(frust[i].isOutHalfSpace(min, max))
00526 return false;
00527
00528 if(frust[i].isInHalfSpace(min, max))
00529 inplanes |= mask;
00530 }
00531 }
00532
00533 return true;
00534 }
00535
00536 OSG_END_NAMESPACE
