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@@ -8,7 +8,7 @@ namespace mbgl {
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namespace {
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vec3 toVec3(const vec4& v) {
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return vec3{v[0], v[1], v[2]};
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return vec3{{v[0], v[1], v[2]}};
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}
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double vec4Dot(const vec4& a, const vec4& b) {
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@@ -33,14 +33,14 @@ static Point<double> ProjectPointsToAxis(const std::array<vec3, N>& points, cons
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namespace util {
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AABB::AABB() : min({0, 0, 0}), max({0, 0, 0}) {}
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AABB::AABB() : min({{0, 0, 0}}), max({{0, 0, 0}}) {}
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AABB::AABB(const vec3& min_, const vec3& max_) : min(min_), max(max_) {}
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vec3 AABB::closestPoint(const vec3& point) const {
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return {std::max(std::min(max[0], point[0]), min[0]),
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std::max(std::min(max[1], point[1]), min[1]),
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std::max(std::min(max[2], point[2]), min[2])};
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return {{std::max(std::min(max[0], point[0]), min[0]),
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std::max(std::min(max[1], point[1]), min[1]),
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std::max(std::min(max[2], point[2]), min[2])}};
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}
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vec3 AABB::distanceXYZ(const vec3& point) const {
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@@ -62,8 +62,8 @@ AABB AABB::quadrant(int idx) const {
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// This aabb is split into 4 quadrants. For each axis define in which side of the split "idx" is
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// The result for indices 0, 1, 2, 3 is: { 0, 0 }, { 1, 0 }, { 0, 1 }, { 1, 1 }
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const std::array<int, 4> xSplit = {0, 1, 0, 1};
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const std::array<int, 4> ySplit = {0, 0, 1, 1};
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const std::array<int, 4> xSplit = {{0, 1, 0, 1}};
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const std::array<int, 4> ySplit = {{0, 0, 1, 1}};
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quadrantMin[0] = xSplit[idx] ? xCenter : quadrantMin[0];
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quadrantMax[0] = xSplit[idx] ? quadrantMax[0] : xCenter;
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@@ -103,26 +103,26 @@ enum {
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Frustum::Frustum(const std::array<vec3, 8>& points_, const std::array<vec4, 6>& planes_)
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: points(points_), planes(planes_) {
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const Point<double> xBounds = ProjectPointsToAxis(points, {0, 0, 0}, {1, 0, 0});
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const Point<double> yBounds = ProjectPointsToAxis(points, {0, 0, 0}, {0, 1, 0});
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const Point<double> zBounds = ProjectPointsToAxis(points, {0, 0, 0}, {0, 0, 1});
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const Point<double> xBounds = ProjectPointsToAxis(points, {{0, 0, 0}}, {{1, 0, 0}});
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const Point<double> yBounds = ProjectPointsToAxis(points, {{0, 0, 0}}, {{0, 1, 0}});
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const Point<double> zBounds = ProjectPointsToAxis(points, {{0, 0, 0}}, {{0, 0, 1}});
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bounds = AABB({xBounds.x, yBounds.x, zBounds.x}, {xBounds.y, yBounds.y, zBounds.y});
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bounds = AABB({{xBounds.x, yBounds.x, zBounds.x}}, {{xBounds.y, yBounds.y, zBounds.y}});
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// Precompute a set of separating axis candidates for precise intersection tests.
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// Remaining axes not covered in basic intersection tests are: axis[] = (edges of aabb) x (edges of frustum)
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std::array<vec3, 6> frustumEdges = {vec3Sub(points[near_br], points[near_bl]),
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vec3Sub(points[near_tl], points[near_bl]),
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vec3Sub(points[far_tl], points[near_tl]),
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vec3Sub(points[far_tr], points[near_tr]),
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vec3Sub(points[far_br], points[near_br]),
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vec3Sub(points[far_bl], points[near_bl])};
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std::array<vec3, 6> frustumEdges = {{vec3Sub(points[near_br], points[near_bl]),
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vec3Sub(points[near_tl], points[near_bl]),
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vec3Sub(points[far_tl], points[near_tl]),
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vec3Sub(points[far_tr], points[near_tr]),
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vec3Sub(points[far_br], points[near_br]),
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vec3Sub(points[far_bl], points[near_bl])}};
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for (size_t i = 0; i < frustumEdges.size(); i++) {
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// Cross product [1, 0, 0] x [a, b, c] == [0, -c, b]
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// Cross product [0, 1, 0] x [a, b, c] == [c, 0, -a]
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const vec3 axis0 = {0.0, -frustumEdges[i][2], frustumEdges[i][1]};
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const vec3 axis1 = {frustumEdges[i][2], 0.0, -frustumEdges[i][0]};
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const vec3 axis0 = {{0.0, -frustumEdges[i][2], frustumEdges[i][1]}};
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const vec3 axis1 = {{frustumEdges[i][2], 0.0, -frustumEdges[i][0]}};
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projections[i * 2] = {axis0, ProjectPointsToAxis(points, points[0], axis0)};
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projections[i * 2 + 1] = {axis1, ProjectPointsToAxis(points, points[0], axis1)};
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@@ -131,14 +131,14 @@ Frustum::Frustum(const std::array<vec3, 8>& points_, const std::array<vec4, 6>&
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Frustum Frustum::fromInvProjMatrix(const mat4& invProj, double worldSize, double zoom, bool flippedY) {
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// Define frustum corner points in normalized clip space
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std::array<vec4, 8> cornerCoords = {vec4{-1.0, 1.0, -1.0, 1.0},
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vec4{1.0, 1.0, -1.0, 1.0},
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vec4{1.0, -1.0, -1.0, 1.0},
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vec4{-1.0, -1.0, -1.0, 1.0},
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vec4{-1.0, 1.0, 1.0, 1.0},
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vec4{1.0, 1.0, 1.0, 1.0},
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vec4{1.0, -1.0, 1.0, 1.0},
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vec4{-1.0, -1.0, 1.0, 1.0}};
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std::array<vec4, 8> cornerCoords = {{vec4{{-1.0, 1.0, -1.0, 1.0}},
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vec4{{1.0, 1.0, -1.0, 1.0}},
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vec4{{1.0, -1.0, -1.0, 1.0}},
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vec4{{-1.0, -1.0, -1.0, 1.0}},
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vec4{{-1.0, 1.0, 1.0, 1.0}},
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vec4{{1.0, 1.0, 1.0, 1.0}},
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vec4{{1.0, -1.0, 1.0, 1.0}},
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vec4{{-1.0, -1.0, 1.0, 1.0}}}};
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const double scale = std::pow(2.0, zoom);
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@@ -148,14 +148,14 @@ Frustum Frustum::fromInvProjMatrix(const mat4& invProj, double worldSize, double
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for (auto& component : coord) component *= 1.0 / coord[3] / worldSize * scale;
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}
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std::array<vec3i, 6> frustumPlanePointIndices = {
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vec3i{near_bl, near_br, far_br}, // bottom
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vec3i{near_tl, near_bl, far_bl}, // left
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vec3i{near_br, near_tr, far_tr}, // right
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vec3i{near_tl, far_tl, far_tr}, // top
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vec3i{near_tl, near_tr, near_br}, // near
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vec3i{far_br, far_tr, far_tl} // far
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};
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std::array<vec3i, 6> frustumPlanePointIndices = {{
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vec3i{{near_bl, near_br, far_br}}, // bottom
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vec3i{{near_tl, near_bl, far_bl}}, // left
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vec3i{{near_br, near_tr, far_tr}}, // right
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vec3i{{near_tl, far_tl, far_tr}}, // top
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vec3i{{near_tl, near_tr, near_br}}, // near
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vec3i{{far_br, far_tr, far_tl}} // far
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}};
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if (flippedY) {
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std::for_each(frustumPlanePointIndices.begin(), frustumPlanePointIndices.end(), [](vec3i& tri) {
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@@ -177,7 +177,7 @@ Frustum Frustum::fromInvProjMatrix(const mat4& invProj, double worldSize, double
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const vec3 b = vec3Sub(p2, p1);
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const vec3 n = vec3Normalize(vec3Cross(a, b));
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frustumPlanes[i] = {n[0], n[1], n[2], -vec3Dot(n, p1)};
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frustumPlanes[i] = {{n[0], n[1], n[2], -vec3Dot(n, p1)}};
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}
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std::array<vec3, 8> frustumPoints;
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@@ -197,12 +197,12 @@ IntersectionResult Frustum::intersects(const AABB& aabb) const {
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if (!bounds.intersects(aabb)) return IntersectionResult::Separate;
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const std::array<vec4, 4> aabbPoints = {
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vec4{aabb.min[0], aabb.min[1], 0.0, 1.0},
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vec4{aabb.max[0], aabb.min[1], 0.0, 1.0},
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vec4{aabb.max[0], aabb.max[1], 0.0, 1.0},
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vec4{aabb.min[0], aabb.max[1], 0.0, 1.0},
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};
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const std::array<vec4, 4> aabbPoints = {{
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vec4{{aabb.min[0], aabb.min[1], 0.0, 1.0}},
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vec4{{aabb.max[0], aabb.min[1], 0.0, 1.0}},
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vec4{{aabb.max[0], aabb.max[1], 0.0, 1.0}},
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vec4{{aabb.min[0], aabb.max[1], 0.0, 1.0}},
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}};
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bool fullyInside = true;
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@@ -232,10 +232,10 @@ IntersectionResult Frustum::intersectsPrecise(const AABB& aabb, bool edgeCasesOn
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if (result == IntersectionResult::Separate) return result;
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}
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const std::array<vec3, 4> aabbPoints = {vec3{aabb.min[0], aabb.min[1], 0.0},
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vec3{aabb.max[0], aabb.min[1], 0.0},
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vec3{aabb.max[0], aabb.max[1], 0.0},
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vec3{aabb.min[0], aabb.max[1], 0.0}};
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const std::array<vec3, 4> aabbPoints = {{vec3{{aabb.min[0], aabb.min[1], 0.0}},
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vec3{{aabb.max[0], aabb.min[1], 0.0}},
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vec3{{aabb.max[0], aabb.max[1], 0.0}},
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vec3{{aabb.min[0], aabb.max[1], 0.0}}}};
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// For a precise SAT-test all edge cases needs to be covered
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// Projections of the frustum on separating axis candidates have been precomputed already
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