Implement CreateFrustumFromCamera

CMakeLists.txt

@@ -32,7 +32,8 @@ file(GLOB_RECURSE J3ML_SRC     "src/J3ML/*.c" "src/J3ML/*.cpp")
 include_directories("include")
 
 add_library(J3ML SHARED ${J3ML_SRC}
-        src/J3ML/LinearAlgebra/AxisAngle.cpp)
+        src/J3ML/LinearAlgebra/AxisAngle.cpp
+        include/J3ML/LinearAlgebra/Vector.h)
 set_target_properties(J3ML PROPERTIES LINKER_LANGUAGE CXX)
 
 install(TARGETS ${PROJECT_NAME} DESTINATION lib/${PROJECT_NAME})

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>;

main.cpp

@@ -1,5 +1,5 @@
 #include <iostream>
-
+#include <J3ML/Geometry.h>
 
 int main(int argc, char** argv)
 {

src/J3ML/LinearAlgebra/Matrix4x4.cpp

@@ -1,5 +1,80 @@
 #include <J3ML/LinearAlgebra/Matrix4x4.h>
+#include <J3ML/LinearAlgebra/Vector4.h>
 
 namespace LinearAlgebra {
+    const Matrix4x4 Matrix4x4::Zero = Matrix4x4(0);
+    const Matrix4x4 Matrix4x4::Identity = Matrix4x4({1,0,0,0}, {0,1,0,0}, {0,0,1,0}, {0,0,0,1});
+    const Matrix4x4 Matrix4x4::NaN = Matrix4x4(NAN);
 
+    Matrix4x4::Matrix4x4(const Vector4 &r1, const Vector4 &r2, const Vector4 &r3, const Vector4 &r4) {
+        this->elems[0][0] = r1.x;
+        this->elems[0][1] = r1.y;
+        this->elems[0][2] = r1.z;
+        this->elems[0][3] = r1.w;
+
+        this->elems[1][0] = r2.x;
+        this->elems[1][1] = r2.y;
+        this->elems[1][2] = r2.z;
+        this->elems[1][3] = r2.w;
+
+        this->elems[2][0] = r3.x;
+        this->elems[2][1] = r3.y;
+        this->elems[2][2] = r3.z;
+        this->elems[2][3] = r3.w;
+
+        this->elems[3][0] = r4.x;
+        this->elems[3][1] = r4.y;
+        this->elems[3][2] = r4.z;
+        this->elems[3][3] = r4.w;
+    }
+
+    Matrix4x4::Matrix4x4(float val) {
+        this->elems[0][0] = val;
+        this->elems[0][1] = val;
+        this->elems[0][2] = val;
+        this->elems[0][3] = val;
+
+        this->elems[1][0] = val;
+        this->elems[1][1] = val;
+        this->elems[1][2] = val;
+        this->elems[1][3] = val;
+
+        this->elems[2][0] = val;
+        this->elems[2][1] = val;
+        this->elems[2][2] = val;
+        this->elems[2][3] = val;
+
+        this->elems[3][0] = val;
+        this->elems[3][1] = val;
+        this->elems[3][2] = val;
+        this->elems[3][3] = val;
+    }
+
+    Matrix4x4::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) {
+        this->elems[0][0] = m00;
+        this->elems[0][1] = m01;
+        this->elems[0][2] = m02;
+        this->elems[0][3] = m03;
+
+        this->elems[1][0] = m10;
+        this->elems[1][1] = m11;
+        this->elems[1][2] = m12;
+        this->elems[1][3] = m13;
+
+        this->elems[2][0] = m20;
+        this->elems[2][1] = m21;
+        this->elems[2][2] = m22;
+        this->elems[2][3] = m23;
+
+        this->elems[3][0] = m30;
+        this->elems[3][1] = m31;
+        this->elems[3][2] = m32;
+        this->elems[3][3] = m33;
+
+    }
+
+    Matrix4x4::Matrix4x4(const Quaternion &orientation) {
+
+    }
 }

tests/LinearAlgebra/Vector3Tests.cpp

@@ -189,7 +189,7 @@ TEST(Vector3Test, V3_AngleBetween) {
     Vector3 B {.25f, .75f, .25f};
     A = A.Normalize();
     B = B.Normalize();
-    LinearAlgebra::Angle2D ExpectedResult {-0.697914, -2.35619};
+    LinearAlgebra::Angle2D ExpectedResult {-0.69791365, -2.3561945};
     std::cout << A.AngleBetween(B).x << ", " << A.AngleBetween(B).y << "";
     auto angle = A.AngleBetween(B);
     EXPECT_FLOAT_EQ(angle.x, ExpectedResult.x);