Implement CreateFrustumFromCamera

include/J3ML/Geometry.h

@@ -3,12 +3,13 @@
 #pragma once
 
 namespace Geometry {
-    using Point2D = LinearAlgebra::Vector2;
+    using Vector2 = LinearAlgebra::Vector2;
+    using Vector3 = LinearAlgebra::Vector3;
 
     class LineSegment2D
     {
-        Point2D A;
-        Point2D B;
+        Vector2 A;
+        Vector2 B;
     };
 
     class Rectangle; //AABB2D;
@@ -29,7 +30,7 @@ namespace Geometry {
 
     
 
-    using Point3D = LinearAlgebra::Vector3;
+
 
     // A 3D axis-aligned bounding box
     // This data structure can be used to represent coarse bounds of objects, in situations where detailed triangle-level
@@ -44,18 +45,59 @@ namespace Geometry {
     class Line;
     class LineSegment
     {
-        Point3D A;
-        Point3D B;
+        Vector3 A;
+        Vector3 B;
     };
     class Ray
     {
-        Point3D Origin;
-        Point3D Direction;
+        Vector3 Origin;
+        Vector3 Direction;
     };
 
     class OBB;
-    class Frustum;
-    class Plane;
+    class Plane
+    {
+    public:
+        Vector3 Position;
+        Vector3 Normal;
+        float distance = 0.f;
+
+    };
+    class Frustum {
+    public:
+        Plane TopFace;
+        Plane BottomFace;
+        Plane RightFace;
+        Plane LeftFace;
+        Plane FarFace;
+        Plane NearFace;
+    };
+
+    class Camera {
+    public:
+        Vector3 Position;
+        Vector3 Front;
+        Vector3 Right;
+        Vector3 Up;
+    };
+
+    static Frustum CreateFrustumFromCamera(const Camera& cam, float aspect, float fovY, float zNear, float zFar)
+    {
+        Frustum frustum;
+        const float halfVSide = zFar * tanf(fovY * 0.5f);
+        const float halfHSide = halfVSide * aspect;
+
+        const Vector3 frontMultFar = cam.Front * zFar;
+
+        frustum.NearFace  = Plane{cam.Position + cam.Front * zNear, cam.Front};
+        frustum.FarFace   = Plane{cam.Position + frontMultFar, -cam.Front};
+        frustum.RightFace = Plane{cam.Position, Vector3::Cross(frontMultFar - cam.Right * halfHSide, cam.Up)};
+        frustum.LeftFace  = Plane{cam.Position, Vector3::Cross(cam.Up, frontMultFar+cam.Right*halfHSide)};
+        frustum.TopFace   = Plane{cam.Position, Vector3::Cross(cam.Right, frontMultFar - cam.Up * halfVSide)};
+        frustum.BottomFace   = Plane{cam.Position, Vector3::Cross(frontMultFar + cam.Up * halfVSide, cam.Right)};
+        return frustum;
+    }
+
     class Polygon;
     class Polyhedron;
     class QuadTree;

include/J3ML/LinearAlgebra/Matrix4x4.h

@@ -10,7 +10,7 @@ namespace LinearAlgebra {
  * The elements of this matrix are
  *  m_00, m_01, m_02, m_03
  *  m_10, m_11, m_12, m_13
- *  m_20, m_21, m_22, m_23,
+ *  m_20, m_21, m_22, xm_23,
  *  m_30, m_31, m_32, m_33
  *
  *  The element m_yx is the value on the row y and column x.
@@ -18,8 +18,42 @@ namespace LinearAlgebra {
  */
     class Matrix4x4 {
     public:
+        enum { Rows = 4 };
+        enum { Cols = 4 };
+
         static const Matrix4x4 Zero;
         static const Matrix4x4 Identity;
+        static const Matrix4x4 NaN;
+
+        Matrix4x4() {}
+        Matrix4x4(float val);
+        Matrix4x4(float m00, float m01, float m02, float m03,
+            float m10, float m11, float m12, float m13,
+            float m20, float m21, float m22, float m23,
+            float m30, float m31, float m32, float m33);
+        Matrix4x4(const Vector4& r1, const Vector4& r2, const Vector4& r3, const Vector4& r4);
+        explicit Matrix4x4(const Quaternion& orientation);
+
+        Vector4 GetRow(int index) const;
+        Vector4 GetColumn(int index) const;
+        float At(int x, int y) const;
+
+        Vector4 Diagonal() const;
+        Vector4 WorldX() const;
+        Vector4 WorldY() const;
+        Vector4 WorldZ() const;
+
+        /// Computes the determinant of this matrix.
+        // If the determinant is nonzero, this matrix is invertible.
+        float Determinant() const;
+
+        Matrix4x4 Inverse() const;
+
+        Matrix4x4 Transpose() const;
+
+        Vector2 Transform(const Vector2& rhs) const;
+        Vector3 Transform(const Vector3& rhs) const;
+        Vector4 Transform(const Vector4& rhs) const;
 
         Vector3 GetTranslationComponent() const;
         Matrix3x3 GetRotationComponent() const;

include/J3ML/LinearAlgebra/Vector.h

@@ -0,0 +1,13 @@
+#pragma once
+
+
+template <typename T, int Dims>
+class templated_vector
+{
+
+};
+
+
+using v2f = templated_vector<float, 2>;
+using v3f = templated_vector<float, 3>;
+using v4f = templated_vector<float, 4>;