irrlicht/include/SViewFrustum.h

// Copyright (C) 2002-2012 Nikolaus Gebhardt
// This file is part of the "Irrlicht Engine".
// For conditions of distribution and use, see copyright notice in irrlicht.h

#pragma once

#include "plane3d.h"
#include "vector3d.h"
#include "line3d.h"
#include "aabbox3d.h"
#include "matrix4.h"
#include "IVideoDriver.h"

namespace irr
{
namespace scene
{

//! Defines the view frustum. That's the space visible by the camera.
/** The view frustum is enclosed by 6 planes. These six planes share
eight points. A bounding box around these eight points is also stored in
this structure.
*/
struct SViewFrustum
{
	enum VFPLANES
	{
		//! Far plane of the frustum. That is the plane furthest away from the eye.
		VF_FAR_PLANE = 0,
		//! Near plane of the frustum. That is the plane nearest to the eye.
		VF_NEAR_PLANE,
		//! Left plane of the frustum.
		VF_LEFT_PLANE,
		//! Right plane of the frustum.
		VF_RIGHT_PLANE,
		//! Bottom plane of the frustum.
		VF_BOTTOM_PLANE,
		//! Top plane of the frustum.
		VF_TOP_PLANE,

		//! Amount of planes enclosing the view frustum. Should be 6.
		VF_PLANE_COUNT
	};

	//! Default Constructor
	SViewFrustum() :
			BoundingRadius(0.f), FarNearDistance(0.f) {}

	//! Copy Constructor
	SViewFrustum(const SViewFrustum &other);

	//! This constructor creates a view frustum based on a projection and/or view matrix.
	//\param zClipFromZero: Clipping of z can be projected from 0 to w when true (D3D style) and from -w to w when false (OGL style).
	SViewFrustum(const core::matrix4 &mat, bool zClipFromZero);

	//! This constructor creates a view frustum based on a projection and/or view matrix.
	//\param zClipFromZero: Clipping of z can be projected from 0 to w when true (D3D style) and from -w to w when false (OGL style).
	inline void setFrom(const core::matrix4 &mat, bool zClipFromZero);

	//! transforms the frustum by the matrix
	/** \param mat: Matrix by which the view frustum is transformed.*/
	void transform(const core::matrix4 &mat);

	//! returns the point which is on the far left upper corner inside the the view frustum.
	core::vector3df getFarLeftUp() const;

	//! returns the point which is on the far left bottom corner inside the the view frustum.
	core::vector3df getFarLeftDown() const;

	//! returns the point which is on the far right top corner inside the the view frustum.
	core::vector3df getFarRightUp() const;

	//! returns the point which is on the far right bottom corner inside the the view frustum.
	core::vector3df getFarRightDown() const;

	//! returns the point which is on the near left upper corner inside the the view frustum.
	core::vector3df getNearLeftUp() const;

	//! returns the point which is on the near left bottom corner inside the the view frustum.
	core::vector3df getNearLeftDown() const;

	//! returns the point which is on the near right top corner inside the the view frustum.
	core::vector3df getNearRightUp() const;

	//! returns the point which is on the near right bottom corner inside the the view frustum.
	core::vector3df getNearRightDown() const;

	//! returns a bounding box enclosing the whole view frustum
	const core::aabbox3d<f32> &getBoundingBox() const;

	//! recalculates the bounding box and sphere based on the planes
	inline void recalculateBoundingBox();

	//! get the bounding sphere's radius (of an optimized sphere, not the AABB's)
	float getBoundingRadius() const;

	//! get the bounding sphere's radius (of an optimized sphere, not the AABB's)
	core::vector3df getBoundingCenter() const;

	//! the cam should tell the frustum the distance between far and near
	void setFarNearDistance(float distance);

	//! get the given state's matrix based on frustum E_TRANSFORMATION_STATE
	core::matrix4 &getTransform(video::E_TRANSFORMATION_STATE state);

	//! get the given state's matrix based on frustum E_TRANSFORMATION_STATE
	const core::matrix4 &getTransform(video::E_TRANSFORMATION_STATE state) const;

	//! clips a line to the view frustum.
	/** \return True if the line was clipped, false if not */
	bool clipLine(core::line3d<f32> &line) const;

	//! the position of the camera
	core::vector3df cameraPosition;

	//! all planes enclosing the view frustum.
	core::plane3d<f32> planes[VF_PLANE_COUNT];

	//! bounding box around the view frustum
	core::aabbox3d<f32> boundingBox;

private:
	//! Hold a copy of important transform matrices
	enum E_TRANSFORMATION_STATE_FRUSTUM
	{
		ETS_VIEW = 0,
		ETS_PROJECTION = 1,
		ETS_COUNT_FRUSTUM
	};

	//! recalculates the bounding sphere based on the planes
	inline void recalculateBoundingSphere();

	//! Hold a copy of important transform matrices
	core::matrix4 Matrices[ETS_COUNT_FRUSTUM];

	float BoundingRadius;
	float FarNearDistance;
	core::vector3df BoundingCenter;
};

/*!
	Copy constructor ViewFrustum
*/
inline SViewFrustum::SViewFrustum(const SViewFrustum &other)
{
	cameraPosition = other.cameraPosition;
	boundingBox = other.boundingBox;

	u32 i;
	for (i = 0; i < VF_PLANE_COUNT; ++i)
		planes[i] = other.planes[i];

	for (i = 0; i < ETS_COUNT_FRUSTUM; ++i)
		Matrices[i] = other.Matrices[i];

	BoundingRadius = other.BoundingRadius;
	FarNearDistance = other.FarNearDistance;
	BoundingCenter = other.BoundingCenter;
}

inline SViewFrustum::SViewFrustum(const core::matrix4 &mat, bool zClipFromZero)
{
	setFrom(mat, zClipFromZero);
}

inline void SViewFrustum::transform(const core::matrix4 &mat)
{
	for (u32 i = 0; i < VF_PLANE_COUNT; ++i)
		mat.transformPlane(planes[i]);

	mat.transformVect(cameraPosition);
	recalculateBoundingBox();
}

inline core::vector3df SViewFrustum::getFarLeftUp() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_FAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_TOP_PLANE],
			planes[scene::SViewFrustum::VF_LEFT_PLANE], p);

	return p;
}

inline core::vector3df SViewFrustum::getFarLeftDown() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_FAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_BOTTOM_PLANE],
			planes[scene::SViewFrustum::VF_LEFT_PLANE], p);

	return p;
}

inline core::vector3df SViewFrustum::getFarRightUp() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_FAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_TOP_PLANE],
			planes[scene::SViewFrustum::VF_RIGHT_PLANE], p);

	return p;
}

inline core::vector3df SViewFrustum::getFarRightDown() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_FAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_BOTTOM_PLANE],
			planes[scene::SViewFrustum::VF_RIGHT_PLANE], p);

	return p;
}

inline core::vector3df SViewFrustum::getNearLeftUp() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_NEAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_TOP_PLANE],
			planes[scene::SViewFrustum::VF_LEFT_PLANE], p);

	return p;
}

inline core::vector3df SViewFrustum::getNearLeftDown() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_NEAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_BOTTOM_PLANE],
			planes[scene::SViewFrustum::VF_LEFT_PLANE], p);

	return p;
}

inline core::vector3df SViewFrustum::getNearRightUp() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_NEAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_TOP_PLANE],
			planes[scene::SViewFrustum::VF_RIGHT_PLANE], p);

	return p;
}

inline core::vector3df SViewFrustum::getNearRightDown() const
{
	core::vector3df p;
	planes[scene::SViewFrustum::VF_NEAR_PLANE].getIntersectionWithPlanes(
			planes[scene::SViewFrustum::VF_BOTTOM_PLANE],
			planes[scene::SViewFrustum::VF_RIGHT_PLANE], p);

	return p;
}

inline const core::aabbox3d<f32> &SViewFrustum::getBoundingBox() const
{
	return boundingBox;
}

inline void SViewFrustum::recalculateBoundingBox()
{
	boundingBox.reset(getNearLeftUp());
	boundingBox.addInternalPoint(getNearRightUp());
	boundingBox.addInternalPoint(getNearLeftDown());
	boundingBox.addInternalPoint(getNearRightDown());
	boundingBox.addInternalPoint(getFarRightUp());
	boundingBox.addInternalPoint(getFarLeftDown());
	boundingBox.addInternalPoint(getFarRightDown());
	boundingBox.addInternalPoint(getFarLeftUp());

	// Also recalculate the bounding sphere when the bbox changes
	recalculateBoundingSphere();
}

inline float SViewFrustum::getBoundingRadius() const
{
	return BoundingRadius;
}

inline core::vector3df SViewFrustum::getBoundingCenter() const
{
	return BoundingCenter;
}

inline void SViewFrustum::setFarNearDistance(float distance)
{
	FarNearDistance = distance;
}

//! This constructor creates a view frustum based on a projection
//! and/or view matrix.
inline void SViewFrustum::setFrom(const core::matrix4 &mat, bool zClipFromZero)
{
	// left clipping plane
	planes[VF_LEFT_PLANE].Normal.X = mat[3] + mat[0];
	planes[VF_LEFT_PLANE].Normal.Y = mat[7] + mat[4];
	planes[VF_LEFT_PLANE].Normal.Z = mat[11] + mat[8];
	planes[VF_LEFT_PLANE].D = mat[15] + mat[12];

	// right clipping plane
	planes[VF_RIGHT_PLANE].Normal.X = mat[3] - mat[0];
	planes[VF_RIGHT_PLANE].Normal.Y = mat[7] - mat[4];
	planes[VF_RIGHT_PLANE].Normal.Z = mat[11] - mat[8];
	planes[VF_RIGHT_PLANE].D = mat[15] - mat[12];

	// top clipping plane
	planes[VF_TOP_PLANE].Normal.X = mat[3] - mat[1];
	planes[VF_TOP_PLANE].Normal.Y = mat[7] - mat[5];
	planes[VF_TOP_PLANE].Normal.Z = mat[11] - mat[9];
	planes[VF_TOP_PLANE].D = mat[15] - mat[13];

	// bottom clipping plane
	planes[VF_BOTTOM_PLANE].Normal.X = mat[3] + mat[1];
	planes[VF_BOTTOM_PLANE].Normal.Y = mat[7] + mat[5];
	planes[VF_BOTTOM_PLANE].Normal.Z = mat[11] + mat[9];
	planes[VF_BOTTOM_PLANE].D = mat[15] + mat[13];

	// far clipping plane
	planes[VF_FAR_PLANE].Normal.X = mat[3] - mat[2];
	planes[VF_FAR_PLANE].Normal.Y = mat[7] - mat[6];
	planes[VF_FAR_PLANE].Normal.Z = mat[11] - mat[10];
	planes[VF_FAR_PLANE].D = mat[15] - mat[14];

	// near clipping plane
	if (zClipFromZero) {
		planes[VF_NEAR_PLANE].Normal.X = mat[2];
		planes[VF_NEAR_PLANE].Normal.Y = mat[6];
		planes[VF_NEAR_PLANE].Normal.Z = mat[10];
		planes[VF_NEAR_PLANE].D = mat[14];
	} else {
		// near clipping plane
		planes[VF_NEAR_PLANE].Normal.X = mat[3] + mat[2];
		planes[VF_NEAR_PLANE].Normal.Y = mat[7] + mat[6];
		planes[VF_NEAR_PLANE].Normal.Z = mat[11] + mat[10];
		planes[VF_NEAR_PLANE].D = mat[15] + mat[14];
	}

	// normalize normals
	u32 i;
	for (i = 0; i != VF_PLANE_COUNT; ++i) {
		const f32 len = -core::reciprocal_squareroot(
				planes[i].Normal.getLengthSQ());
		planes[i].Normal *= len;
		planes[i].D *= len;
	}

	// make bounding box
	recalculateBoundingBox();
}

/*!
	View Frustum depends on Projection & View Matrix
*/
inline core::matrix4 &SViewFrustum::getTransform(video::E_TRANSFORMATION_STATE state)
{
	u32 index = 0;
	switch (state) {
	case video::ETS_PROJECTION:
		index = SViewFrustum::ETS_PROJECTION;
		break;
	case video::ETS_VIEW:
		index = SViewFrustum::ETS_VIEW;
		break;
	default:
		break;
	}
	return Matrices[index];
}

/*!
	View Frustum depends on Projection & View Matrix
*/
inline const core::matrix4 &SViewFrustum::getTransform(video::E_TRANSFORMATION_STATE state) const
{
	u32 index = 0;
	switch (state) {
	case video::ETS_PROJECTION:
		index = SViewFrustum::ETS_PROJECTION;
		break;
	case video::ETS_VIEW:
		index = SViewFrustum::ETS_VIEW;
		break;
	default:
		break;
	}
	return Matrices[index];
}

//! Clips a line to the frustum
inline bool SViewFrustum::clipLine(core::line3d<f32> &line) const
{
	bool wasClipped = false;
	for (u32 i = 0; i < VF_PLANE_COUNT; ++i) {
		if (planes[i].classifyPointRelation(line.start) == core::ISREL3D_FRONT) {
			line.start = line.start.getInterpolated(line.end,
					1.f - planes[i].getKnownIntersectionWithLine(line.start, line.end));
			wasClipped = true;
		}
		if (planes[i].classifyPointRelation(line.end) == core::ISREL3D_FRONT) {
			line.end = line.start.getInterpolated(line.end,
					1.f - planes[i].getKnownIntersectionWithLine(line.start, line.end));
			wasClipped = true;
		}
	}
	return wasClipped;
}

inline void SViewFrustum::recalculateBoundingSphere()
{
	// Find the center
	const float shortlen = (getNearLeftUp() - getNearRightUp()).getLength();
	const float longlen = (getFarLeftUp() - getFarRightUp()).getLength();

	const float farlen = FarNearDistance;
	const float fartocenter = (farlen + (shortlen - longlen) * (shortlen + longlen) / (4 * farlen)) / 2;
	const float neartocenter = farlen - fartocenter;

	BoundingCenter = cameraPosition + -planes[VF_NEAR_PLANE].Normal * neartocenter;

	// Find the radius
	core::vector3df dir[8];
	dir[0] = getFarLeftUp() - BoundingCenter;
	dir[1] = getFarRightUp() - BoundingCenter;
	dir[2] = getFarLeftDown() - BoundingCenter;
	dir[3] = getFarRightDown() - BoundingCenter;
	dir[4] = getNearRightDown() - BoundingCenter;
	dir[5] = getNearLeftDown() - BoundingCenter;
	dir[6] = getNearRightUp() - BoundingCenter;
	dir[7] = getNearLeftUp() - BoundingCenter;

	u32 i = 0;
	float diam[8] = {0.f};

	for (i = 0; i < 8; ++i)
		diam[i] = dir[i].getLengthSQ();

	float longest = 0;

	for (i = 0; i < 8; ++i) {
		if (diam[i] > longest)
			longest = diam[i];
	}

	BoundingRadius = sqrtf(longest);
}

} // end namespace scene
} // end namespace irr