视椎剔除的体六个面方程

参考:
https://blog.csdn.net/qq_31709249/article/details/80175119?utm_source=app&app_version=4.6.1
Fast Extraction of Viewing Frustum Planes from the World View-Projection Matrix
https://www.zhihu.com/question/46377273
https://blog.csdn.net/zxx43/article/details/41131101

视椎剔除的体六个面方程

前置知识:
$$\left[\begin{array}{c}{x}_{clip}\\ y_{clip}\\ z_{clip}\\ w_{clip}\end{array}\right]=M_{project}\cdot \left[\begin{array}{c}{x}_{eye}\\ y_{eye}\\ z_{eye}\\ w_{eye}\end{array}\right]$$

$$\left[\begin{array}{c}{x}_{ndc}\\ y_{ndc}\\ z_{ndc}\end{array}\right]=\left[\begin{array}{c}{x}_{clip}/w_{clip}\\ y_{clip}/w_{clip}\\ z_{clip}/w_{clip}\end{array}\right]$$

设顶点V:
$$V=(x,y,z,w=1)$$

矩阵M,是ProjectMatrix左乘ModelViewMatrix
$$M=\left[\begin{array}{cccc}{m}_{11}& m_{21}& m_{31}& m_{41}\\ m_{12}& m_{22}& m_{32}& m_{42}\\ m_{13}& m_{23}& m_{33}& m_{43}\\ m_{14}& m_{24}& m_{34}& m_{44}\end{array}\right]$$

那么顶点V变换到剪裁空间:
$$\begin{array}{rl}M\ast V& =\left[\begin{array}{cccc}{m}_{11}& m_{21}& m_{31}& m_{41}\\ m_{12}& m_{22}& m_{32}& m_{42}\\ m_{13}& m_{23}& m_{33}& m_{43}\\ m_{14}& m_{24}& m_{34}& m_{44}\end{array}\right]\ast \left[\begin{array}{c}x\\ y\\ z\\ w\end{array}\right]\end{array}$$

$$M\ast V=\left[\begin{array}{cccc}{m}_{11}x& m_{21}y& m_{31}z& m_{41}w\\ m_{12}x& m_{22}y& m_{32}z& m_{42}w\\ m_{13}x& m_{23}y& m_{33}z& m_{43}w\\ m_{14}x& m_{24}y& m_{34}z& m_{44}w\end{array}\right]$$

$$M\ast V=\left[\begin{array}{c}Vro{w}_1\\ Vro{w}_2\\ Vro{w}_3\\ Vro{w}_4\end{array}\right]=\left[\begin{array}{c}{x}^{\prime }\\ y^{\prime }\\ z^{\prime }\\ w^{\prime }\end{array}\right]$$

那么ndc坐标系:
$$p^{\prime }(\frac{x^{\prime }}{w^{\prime }},\frac{y^{\prime }}{w^{\prime }},\frac{z^{\prime }}{w^{\prime }})$$

因为ndc范围是(-1,1),满足这个关系,则说明转换后的顶点位于视椎体内:
$$\begin{gathered} -1<x^{\prime }/w^{\prime }<1 \\ -1<y^{\prime }/w^{\prime }<1 \\ -1<z^{\prime }/w^{\prime }<1 \end{gathered}$$

如果顶点位于剪裁空间的左侧:
$$\begin{gathered} -1=\frac{x^{\prime }}{w^{\prime }} \\ {x}^{\prime }+w^{\prime }=0 \\ Vro{w}_1+Vro{w}_4=0 \\ V(ro{w}_1+ro{w}_4)=0 \end{gathered}$$

一般的平面方程:$$A\ast x+B\ast y+C\ast z+D=0;(A,B,C)是平面的法向量$$因此该平面方程:
$$x(m_{11}+m_{14})+y(m_{21}+m_{24})+z(m_{31}+m_{34})+w(m_{41}+m_{44})=0$$

其他平面类似。

参考代码:

// three.js/Frustum.js

function setFromProjectionMatrix( m ) {
  const planes = this.planes;
  const me = m.elements;
  const me0 = me[ 0 ], me1 = me[ 1 ], me2 = me[ 2 ], me3 = me[ 3 ];
  const me4 = me[ 4 ], me5 = me[ 5 ], me6 = me[ 6 ], me7 = me[ 7 ];
  const me8 = me[ 8 ], me9 = me[ 9 ], me10 = me[ 10 ], me11 = me[ 11 ];
  const me12 = me[ 12 ], me13 = me[ 13 ], me14 = me[ 14 ], me15 = me[ 15 ];

  planes[ 0 ].setComponents( me3 - me0, me7 - me4, me11 - me8, me15 - me12 ).normalize();
  planes[ 1 ].setComponents( me3 + me0, me7 + me4, me11 + me8, me15 + me12 ).normalize();
  planes[ 2 ].setComponents( me3 + me1, me7 + me5, me11 + me9, me15 + me13 ).normalize();
  planes[ 3 ].setComponents( me3 - me1, me7 - me5, me11 - me9, me15 - me13 ).normalize();
  planes[ 4 ].setComponents( me3 - me2, me7 - me6, me11 - me10, me15 - me14 ).normalize();
  planes[ 5 ].setComponents( me3 + me2, me7 + me6, me11 + me10, me15 + me14 ).normalize();
  return this;
}