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# The frustumCulling example

Frustum culling using `getFrustumPlanesCoefficients`.

A hierarchical octree structure is clipped against a camera's frustum clipping planes, obtained using `getFrustumPlanesCoefficients`. A second viewer displays an external view of the scene that exhibits the clipping (using `drawCamera()` to display the frustum).

This frustum culling implementation is quite naive. Many optimisation techniques are available in the litterature.

## frustumCulling.h

    #include <QGLViewer/qglviewer.h>

    class CullingCamera;

    class Viewer : public QGLViewer {
    public:
      void setCullingCamera(const CullingCamera *const cc) { cullingCamera = cc; }

    protected:
      virtual void draw();
      virtual void init();
      virtual QString helpString() const;

    private:
      const CullingCamera *cullingCamera;
    };

## frustumCulling.cpp

    #include "frustumCulling.h"
    #include "box.h"
    #include "cullingCamera.h"

    using namespace qglviewer;

    void Viewer::draw() {
      Box::Root->drawIfAllChildrenAreVisible(cullingCamera);

      if (cullingCamera == camera())
        // Main viewer computes its plane equation
        cullingCamera->computeFrustumPlanesEquations();
      else {
        // Observer viewer draws cullingCamera
        glLineWidth(4.0);
        glColor4f(1.0, 1.0, 1.0, 0.5);
        cullingCamera->draw();
      }
    }

    void Viewer::init() {
      // Restore previous viewer state.
      restoreStateFromFile();

      if (cullingCamera != camera()) {
        // Observer viewer configuration
        glEnable(GL_BLEND);
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        help();
      }

      glDisable(GL_LIGHTING);
    }

    QString Viewer::helpString() const {
      QString text("<h2>F r u s t u m C u l l i n g</h2>");

      text += "A hierarchical octree structure is clipped against the camera's "
              "frustum clipping planes, obtained ";
      text += "using <code>getFrustumPlanesCoefficients</code>. A second viewer "
              "uses <code>drawCamera()</code> to ";
      text += "display an external view of the first viewer's camera.<br><br>";

      text += "This frustum culling implementation is quite naive. Many "
              "optimisation techniques are available in ";
      text += "the litterature.";

      return text;
    }

## box.h

    #include <QGLViewer/camera.h>

    class CullingCamera;

    // An Axis Aligned Bounding Box octree hierarchy element.
    class Box {
    public:
      Box(const qglviewer::Vec &P1, const qglviewer::Vec &P2) : p1(P1), p2(P2){};

      void draw() const;
      void drawIfAllChildrenAreVisible(const CullingCamera *camera) const;
      void buildBoxHierarchy(int l);

      // Lazy static member, so that it is shared by viewers
      static Box *Root;

    private:
      qglviewer::Vec p1, p2;
      Box *child[8];
      int level;
    };

## cullingCamera.h

    #include <QGLViewer/camera.h>

    class CullingCamera : public qglviewer::Camera {
    public:
      void computeFrustumPlanesEquations() const {
        getFrustumPlanesCoefficients(planeCoefficients);
      }

      float distanceToFrustumPlane(int index, const qglviewer::Vec &pos) const;
      bool sphereIsVisible(const qglviewer::Vec &center, float radius) const;
      bool aaBoxIsVisible(const qglviewer::Vec &p1, const qglviewer::Vec &p2,
                          bool *entirely = NULL) const;

    private:
      // F r u s t u m   p l a n e s
      mutable GLdouble planeCoefficients[6][4];
    };

## box.cpp

    #include "box.h"
    #include "cullingCamera.h"

    using namespace std;
    using namespace qglviewer;

    // Static member initialization
    Box *Box::Root;

    void Box::draw() const {
      glColor3f(0.3 * level, 0.2f, 1.0 - 0.3 * level);
      glLineWidth(level + 1);

      glBegin(GL_LINE_STRIP);
      glVertex3fv(Vec(p1.x, p1.y, p1.z));
      glVertex3fv(Vec(p1.x, p2.y, p1.z));
      glVertex3fv(Vec(p2.x, p2.y, p1.z));
      glVertex3fv(Vec(p2.x, p1.y, p1.z));
      glVertex3fv(Vec(p1.x, p1.y, p1.z));
      glVertex3fv(Vec(p1.x, p1.y, p2.z));
      glVertex3fv(Vec(p1.x, p2.y, p2.z));
      glVertex3fv(Vec(p2.x, p2.y, p2.z));
      glVertex3fv(Vec(p2.x, p1.y, p2.z));
      glVertex3fv(Vec(p1.x, p1.y, p2.z));
      glEnd();

      glBegin(GL_LINES);
      glVertex3fv(Vec(p1.x, p2.y, p1.z));
      glVertex3fv(Vec(p1.x, p2.y, p2.z));
      glVertex3fv(Vec(p2.x, p2.y, p1.z));
      glVertex3fv(Vec(p2.x, p2.y, p2.z));
      glVertex3fv(Vec(p2.x, p1.y, p1.z));
      glVertex3fv(Vec(p2.x, p1.y, p2.z));
      glEnd();
    }

    void Box::buildBoxHierarchy(int l) {
      level = l;
      const Vec middle = (p1 + p2) / 2.0;
      for (unsigned int i = 0; i < 8; ++i) {
        // point in one of the 8 box corners
        const Vec point((i & 4) ? p1.x : p2.x, (i & 2) ? p1.y : p2.y,
                        (i & 1) ? p1.z : p2.z);
        if (level > 0) {
          child[i] = new Box(point, middle);
          child[i]->buildBoxHierarchy(level - 1);
        } else
          child[i] = NULL;
      }
    }

    void Box::drawIfAllChildrenAreVisible(const CullingCamera *camera) const {
      static bool *entirely = new bool;

      if (camera->aaBoxIsVisible(p1, p2, entirely)) {
        if (*entirely)
          draw();
        else if (child[0])
          for (int i = 0; i < 8; ++i)
            child[i]->drawIfAllChildrenAreVisible(camera);
        else
          draw();
      }
    }

## cullingCamera.cpp

    #include "cullingCamera.h"

    using namespace qglviewer;

    float CullingCamera::distanceToFrustumPlane(int index, const Vec &pos) const {
      return pos * Vec(planeCoefficients[index]) - planeCoefficients[index][3];
    }

    bool CullingCamera::sphereIsVisible(const Vec &center, float radius) const {
      for (int i = 0; i < 6; ++i)
        if (distanceToFrustumPlane(i, center) > radius)
          return false;
      return true;
    }

    bool CullingCamera::aaBoxIsVisible(const Vec &p1, const Vec &p2,
                                       bool *entirely) const {
      bool allInForAllPlanes = true;
      for (int i = 0; i < 6; ++i) {
        bool allOut = true;
        for (unsigned int c = 0; c < 8; ++c) {
          const Vec pos((c & 4) ? p1.x : p2.x, (c & 2) ? p1.y : p2.y,
                        (c & 1) ? p1.z : p2.z);
          if (distanceToFrustumPlane(i, pos) > 0.0)
            allInForAllPlanes = false;
          else
            allOut = false;
        }

        // The eight points are on the outside side of this plane
        if (allOut)
          return false;
      }

      if (entirely)
        // Entirely visible : the eight points are on the inside side of the 6
        // planes
        *entirely = allInForAllPlanes;

      // Too conservative, but tangent cases are too expensive to detect
      return true;
    }

## main.cpp

    #include "box.h"
    #include "cullingCamera.h"
    #include "frustumCulling.h"

    #include <QApplication>
    #include <QGLViewer/manipulatedCameraFrame.h>

    using namespace qglviewer;

    int main(int argc, char **argv) {
      QApplication application(argc, argv);

      // Create octree AABBox hierarchy
      const qglviewer::Vec p(1.0, 0.7f, 1.3f);
      Box::Root = new Box(-p, p);
      Box::Root->buildBoxHierarchy(4);

      // Instantiate the two viewers.
      Viewer viewer, observer;

      // Give v a cullingCamera;
      Camera *c = viewer.camera();
      CullingCamera *cc = new CullingCamera();
      viewer.setCamera(cc);
      delete c;

      // Both viewers share the culling camera
      viewer.setCullingCamera(cc);
      observer.setCullingCamera(cc);

      // Place observer
      observer.setSceneRadius(10.0);
      observer.camera()->setViewDirection(qglviewer::Vec(0.0, -1.0, 0.0));
      observer.showEntireScene();

      // Make sure every culling Camera movement updates the outer viewer
      QObject::connect(viewer.camera()->frame(), SIGNAL(manipulated()), &observer,
                       SLOT(update()));
      QObject::connect(viewer.camera()->frame(), SIGNAL(spun()), &observer,
                       SLOT(update()));

      viewer.setWindowTitle("frustumCulling");
      observer.setWindowTitle("scene observer");

      // Show the viewers' windows.
      viewer.show();
      observer.show();

      return application.exec();
    }

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