The VulkanSceneGraph’s maths types and functions are found in the include/vsg/maths directory. The conventions broadly follow GLSL conventions with additions that are helpful for scene graph usage. In the Math Types section, earlier in this chapter, the vec2, vec3, vec4, mat3, mat4, quat, plane, box and sphere classes were introduced. In this section we build upon this with a tour of the range of helper functions available and an explanation of the conventions used.
The VulkanSceneGraph follows the GLSL convention of Right Hand Rule and Column Major matrices. The GLSL conventions are followed to make it easier to move code between shaders and C++ code, and to make it easier to follow 3rd party coding examples.
Headers and associated types/functionality
|vector and quaternion|
|geometric primitive types|
|include/vsg/maths/clamp.h||clamp and repeat texture coord style functions|
|include/vsg/maths/color.h||color helper functions|
|include/vsg/maths/common.h||angle, square, smoothstep and mix helper functions|
|include/vsg/maths/sample.h||sample function equvilant to GPU texture sampler|
|include/vsg/maths/transform.h||range of transform related functions|
Matrix and vector multiplication:
vsg::dmat4 projection; // typically camera will provide projection matrix vsg::dmat4 view; // typically camera will provide view matrix vsg::dmat4 model; // typically transforms in scene graph will be accumulated into model matrix vsg::dvec3 object_coord; // typically provided by vertices in scene graph vsg::dmat4 modelview = view * model; vsg::dvec3 eye_coord = modelview * object_coord; // implicit transpose of object_coord vector vsg::dvec3 clip_coord = projection * modelview * object_coord;
Dot and cross products:
vsg::vec3 a(1.0f, 0.0f, 0.0f); vsg::vec3 b(0.0f, 1.0f, 0.0f); vsg::vec3 c = vsg::cross(a, b); float d = vsg::dot(a, b);
Transform related functions:
vsg::dmat4 matrix = vsg::translate(x, y, z) * vsg::rotate(angle_radians, rx, ry, rz) * vsg::scale(sx, sy, sz);
Difference with OpenSceneGraph conventions
The use of column major contrasts that of the OpenSceneGraph that uses row major, this not only affects order of access for elements of matrices but also the transformation order you’ll use. The row major convention used by the OpenSceneGraph was adopted prior to the existence of GLSL which unfortunately chose the opposite convention, leaving the OpenSceneGraph in an awkward situation where C++ and shaders follow differing conventions.
// OpenSceneGraph uses row major osg::Vec3d osg_vec; osg::Matrixd osg_matrix; osg_matrix(row, column) = value; osg::Vec3d osg_dash = osg_vec * matrix; // VulkanSceneGraph using GLSL column major convention vsg::dvec3 vsg_vec; vsg::dmat4 vsg_matrix; vsg_matrix(column, row) = value; vsg::dvec3 vsg_dask = matrix * vsg_vec
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