用c++实现3d引擎-超详细(附源码)

wangyuhan8

已于 2024-02-06 22:25:24 修改

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文章标签： c++ 3d 开发语言

于 2023-05-03 21:29:54 首次发布

本文链接：https://blog.csdn.net/wangyuhan2010/article/details/130477415

版权

upd:2024/1 重写全部 $b l o g$

前言

这篇文章介绍如何用最简单的c++代码(只有100行)实现3d线框渲染
思路主要来自SPixel 3d教程网站（英文）
重要:关于前置数学（如矩阵、线性代数）请参见 $\boxed{这个}$
下一篇:渲染贴图

效果图

实现了第一人称视角移动等等
在这里插入图片描述

C++如何输出图形?

需要ege库，但是easyx也可(graphics.h)
或者不用图形库，输出到svg文件也可，需要自行更改代码

可以下载 $\boxed{小熊猫c++(直接带有easyx)}$ 或下载 $\boxed{easyx(VS或MinGW)}$

本文使用了EGE

Easyx/EGE的使用可参见:这个

如何获得看到的图像

假设我们的屏幕是棱锥的底面
在这里插入图片描述
我们的眼睛看到的物体位置可以转化为
连接眼睛与物体的直线与屏幕的交点

原理

将顶点投影到屏幕上，这个过程我们称之为透视投影。
在这里插入图片描述

如果垂直于x轴看，可以发现 $\triangle ABC$ 与 $\triangle AB'C'$ 相似
在这里插入图片描述

注意我们的屏幕处于 $z$ 的负半轴，并且假定焦距 $A B^{'} = 1$
于是有 $\dfrac{BC}{AB}=\dfrac{B^{\prime}C^{\prime}}{AB^{\prime}}\to P^{\prime}.y=\dfrac{P.y}{-P.z}$
以上是透视投影的原理，你可以略过下面的内容（下面的内容是具体实现）

现在我们需要注意屏幕的大小（显示屏），应该根据假想屏幕（如下图）变化到真实屏幕里

现在我们的投影后坐标会在这个假定的屏幕里,即应该满足 $x,y\in[-1,1]$ ，当然屏幕外的点应该舍去不显示
将 $[-1,1]\to[0,长]和[0,宽]$ ，这里引入NDC空间，即，将点从它们最初所在的范围转换为范围 $[0, 1]$

我们可以采用 $x'=(1+x)/2\times长，y'=(1+y)/2\times宽$

可见性

如何处理立方体哪个面可见，哪个面不可见，就是可见性问题
我们可以按照点的 $z$ 值从大到小(从后到前)进行计算，以避免此问题

透视投影的具体计算

第一步

将物体从世界坐标系变换到相机坐标系（因为相机会移动和旋转）
在这里插入图片描述
为了计算，我们需要引入矩阵（看不懂就看代码）

现在假设相机坐标系为 $M_{相机}$ ,这是一个局部坐标系，于是我们只要用世界坐标乘以相机坐标系即可得到相机坐标
这一步相当于 $P_{世界}\times M_{世界-相机}=P_{相机}$
相反的，我们要求的 $P_{世界}=P_{相机}/ M_{相机}$

所以将物体从世界坐标系变换到相机坐标系的结果 $P'=\dfrac P{M_{相机}}$

第二步

现在，我们可以使用相机空间中的点坐标，通过使用透视投影方程 $P^{\prime}.y=\dfrac{P.y}{-P.z}$ 来计算其在屏幕上的坐标。

即:将 $P^{'}$ 变换到屏幕坐标系 $P^{''}$ 但是要注意 $P^{''}$ 的可见性
$\begin{cases}可见&|P'.x|\leq\frac{W}{2}\text{and}|P'.y|\leq\frac{H}{2}\\不可见&\text{otherwise}\end{cases}$
注意: $P^{''}$ 在以后仍记为 $P$

第三步

注意显示屏为 $[0,W]\times[0,H]$ ,而现在的 $P$ 点在 $[-W/2,W/2]\times[-H/2,H/2]$
所以要将 $P$ 变换到显示屏坐标系

(1)对 $P$ 归一化（NDC标准空间），即将 $x, y$ 相对于长宽，化为 $[0, 1]$
$\begin{aligned}P_{归一化}.x&=\frac{P.x+W/2}{W}\\P_{归一化}.y&=\frac{P.y+H/2}{H}\end{aligned}$
(2)注意显示屏的 $y$ 向下，于是有 $\begin{array}{l}P_{栅格}.x=\lfloor P_{归一化}.x*W_{像素}\rfloor\\P_{像素}.y=\lfloor(1-P_{归一化}.y)*H_{栅格}\rfloor\end{array}$

具体代码怎么写?

在这里插入图片描述

#include<graphics.h>
#include<bits/stdc++.h>
float pi = 3.14159265;
struct Vec2i{int x, y;};
struct Vec2f{float x, y;};
template<typename T>
class Vec3
{
public:
	Vec3() : x(T(0)), y(T(0)), z(T(0)) {}
	Vec3(T xx, T yy, T zz) : x(xx), y(yy), z(zz) {}
	Vec3 operator + (Vec3 &v) {return Vec3(x + v.x, y + v.y, z + v.z);}
	Vec3 operator - (Vec3 &v){return Vec3(x - v.x, y - v.y, z - v.z);}
	Vec3 operator * (T &r){return Vec3(x * r, y * r, z * r);}
	Vec3 operator * (Vec3 &v){return Vec3(x * v.x, y * v.y, z * v.z);}
	/*绕x旋转*/void rotate_point3d_x(float R) {T new_y = y * cos(R) - z * sin(R);T new_z = y * sin(R) + z * cos(R);y = new_y;z = new_z;}
	/*绕y旋转*/void rotate_point3d_y(float R) {T new_x = x * cos(R) + z * sin(R);T new_z = -x * sin(R) + z * cos(R);x = new_x;z = new_z;}
	/*点乘*/T dotProduct(Vec3<T> &v){return x * v.x + y * v.y + z * v.z;}
	Vec3& operator *= (T &r){x *= r, y *= r, z *= r;return *this;}
	/*叉乘*/Vec3 crossProduct(Vec3<T> &v){return Vec3<T>(y * v.z - z * v.y, z * v.x - x * v.z, x * v.y - y * v.x);}
	/*模长平方*/T norm(){return x * x + y * y + z * z;}
	/*模长*/T length(){return sqrt(norm());}
	/*下标访问*/const T& operator [] (uint8_t i) const{return (&x)[i];}
	T& operator [] (uint8_t i){return (&x)[i];}
	/*归一化*/Vec3& normalize(){T n = norm();if (n > 0){T factor = 1 / sqrt(n);x *= factor, y *= factor, z *= factor;}return *this;}
	friend Vec3 operator * (const T &r, const Vec3 &v){return Vec3<T>(v.x * r, v.y * r, v.z * r);}
	friend Vec3 operator / (const T &r, const Vec3 &v){return Vec3<T>(r / v.x, r / v.y, r / v.z);}
	friend std::ostream& operator << (std::ostream &s, const Vec3<T> &v){return s << '[' << v.x << ' ' << v.y << ' ' << v.z << ']';}
	T x, y, z;
};
typedef Vec3<float> Vec3f;
typedef Vec3<int> Vec3i;
template<typename T>
class Matrix44
{
public:
	T x[4][4] = {{1, 0, 0, 0}, {0, 1, 0, 0}, {0, 0, 1, 0}, {0, 0, 0, 1}};
	Matrix44() {}
	Matrix44 (T a, T b, T c, T d, T e, T f, T g, T h,T i, T j, T k, T l, T m, T n, T o, T p){x[0][0] = a;x[0][1] = b;x[0][2] = c;x[0][3] = d;x[1][0] = e;x[1][1] = f;x[1][2] = g;x[1][3] = h;x[2][0] = i;x[2][1] = j;x[2][2] = k;x[2][3] = l;x[3][0] = m;x[3][1] = n;x[3][2] = o;x[3][3] = p;}
	const T* operator [] (uint8_t i) const{return x[i];}
	T* operator [] (uint8_t i){return x[i];}
	Matrix44 operator * (const Matrix44& v) const{Matrix44 tmp;multiply (*this, v, tmp);return tmp;}
	/*矩阵乘法*/static void multiply(const Matrix44<T> &a, const Matrix44& b, Matrix44 &c){const T * __restrict ap = &a.x[0][0];const T * __restrict bp = &b.x[0][0];T * __restrict cp = &c.x[0][0];T a0, a1, a2, a3;a0 = ap[0];a1 = ap[1];a2 = ap[2];a3 = ap[3];cp[0]  = a0 * bp[0]  + a1 * bp[4]  + a2 * bp[8]  + a3 * bp[12];cp[1]  = a0 * bp[1]  + a1 * bp[5]  + a2 * bp[9]  + a3 * bp[13];cp[2]  = a0 * bp[2]  + a1 * bp[6]  + a2 * bp[10] + a3 * bp[14];cp[3]  = a0 * bp[3]  + a1 * bp[7]  + a2 * bp[11] + a3 * bp[15];a0 = ap[4];a1 = ap[5];a2 = ap[6];a3 = ap[7];cp[4]  = a0 * bp[0]  + a1 * bp[4]  + a2 * bp[8]  + a3 * bp[12];cp[5]  = a0 * bp[1]  + a1 * bp[5]  + a2 * bp[9]  + a3 * bp[13];cp[6]  = a0 * bp[2]  + a1 * bp[6]  + a2 * bp[10] + a3 * bp[14];cp[7]  = a0 * bp[3]  + a1 * bp[7]  + a2 * bp[11] + a3 * bp[15];a0 = ap[8];a1 = ap[9];a2 = ap[10];a3 = ap[11];cp[8]  = a0 * bp[0]  + a1 * bp[4]  + a2 * bp[8]  + a3 * bp[12];cp[9]  = a0 * bp[1]  + a1 * bp[5]  + a2 * bp[9]  + a3 * bp[13];cp[10] = a0 * bp[2]  + a1 * bp[6]  + a2 * bp[10] + a3 * bp[14];cp[11] = a0 * bp[3]  + a1 * bp[7]  + a2 * bp[11] + a3 * bp[15];a0 = ap[12];a1 = ap[13];a2 = ap[14];a3 = ap[15];cp[12] = a0 * bp[0]  + a1 * bp[4]  + a2 * bp[8]  + a3 * bp[12];cp[13] = a0 * bp[1]  + a1 * bp[5]  + a2 * bp[9]  + a3 * bp[13];cp[14] = a0 * bp[2]  + a1 * bp[6]  + a2 * bp[10] + a3 * bp[14];cp[15] = a0 * bp[3]  + a1 * bp[7]  + a2 * bp[11] + a3 * bp[15];}
	/*转置矩阵*/Matrix44 transposed()const{return Matrix44(x[0][0],x[1][0],x[2][0],x[3][0],x[0][1],x[1][1],x[2][1],x[3][1],x[0][2],x[1][2],x[2][2],x[3][2],x[0][3],x[1][3],x[2][3],x[3][3]);}
	template<typename S>
	/*矩阵乘向量*/void multVecMatrix(const Vec3<S> &src, Vec3<S> &dst) const{S a, b, c, w;a = src[0] * x[0][0] + src[1] * x[1][0] + src[2] * x[2][0] + x[3][0];b = src[0] * x[0][1] + src[1] * x[1][1] + src[2] * x[2][1] + x[3][1];c = src[0] * x[0][2] + src[1] * x[1][2] + src[2] * x[2][2] + x[3][2];w = src[0] * x[0][3] + src[1] * x[1][3] + src[2] * x[2][3] + x[3][3];dst.x = a / w;dst.y = b / w;dst.z = c / w;}
	template<typename S>
	void multDirMatrix(const Vec3<S> &src, Vec3<S> &dst) const{S a, b, c;a = src[0] * x[0][0] + src[1] * x[1][0] + src[2] * x[2][0];b = src[0] * x[0][1] + src[1] * x[1][1] + src[2] * x[2][1];c = src[0] * x[0][2] + src[1] * x[1][2] + src[2] * x[2][2];dst.x = a;dst.y = b;dst.z = c;}
	/*矩阵的逆*/Matrix44 inverse() const{int i, j, k;Matrix44 s;Matrix44 t (*this);for (i = 0; i < 3 ; i++){int pivot = i;T pivotsize = t[i][i];if (pivotsize < 0)pivotsize = -pivotsize;for (j = i + 1; j < 4; j++){T tmp = t[j][i];if (tmp < 0)tmp = -tmp;if (tmp > pivotsize){pivot = j;pivotsize = tmp;}}if (pivotsize == 0){return Matrix44();}if (pivot != i){for (j = 0; j < 4; j++){T tmp;tmp = t[i][j];t[i][j] = t[pivot][j];t[pivot][j] = tmp;tmp = s[i][j];s[i][j] = s[pivot][j];s[pivot][j] = tmp;}}for (j = i + 1; j < 4; j++){T f = t[j][i] / t[i][i];for (k = 0; k < 4; k++){t[j][k] -= f * t[i][k];s[j][k] -= f * s[i][k];}}}for (i = 3; i >= 0; --i){T f;if ((f = t[i][i]) == 0){return Matrix44();}for (j = 0; j < 4; j++){t[i][j] /= f;s[i][j] /= f;}for (j = 0; j < i; j++){f = t[j][i];for (k = 0; k < 4; k++){t[j][k] -= f * t[i][k];s[j][k] -= f * s[i][k];}}}return s;}
};
typedef Matrix44<float> Matrix44f;
using namespace std;
Vec3f verts[146]={{0,39.034,0},{0.76212,36.843,0},{3,36.604,0},{1,35.604,0},{2.0162,33.382,0},{0,34.541,0},{-2.0162,33.382,0},{-1,35.604,0},{-3,36.604,0},{-0.76212,36.843,0},{-0.040181,34.31,0},{3.2778,30.464,0},{-0.040181,30.464,0},{-0.028749,30.464,0},{3.2778,30.464,0},{1.2722,29.197,0},{1.2722,29.197,0},{-0.028703,29.197,0},{1.2722,29.197,0},{5.2778,25.398,0},{-0.02865,25.398,0},{1.2722,29.197,0},{5.2778,25.398,0},{3.3322,24.099,0},{-0.028683,24.099,0},{7.1957,20.299,0},{-0.02861,20.299,0},{5.2778,19.065,0},{-0.028663,18.984,0},{9.2778,15.265,0},{-0.028571,15.185,0},{9.2778,15.265,0},{7.3772,13.999,0},{-0.028625,13.901,0},{9.2778,15.265,0},{12.278,8.9323,0},{-0.028771,8.9742,0},{12.278,8.9323,0},{10.278,7.6657,0},{-0.028592,7.6552,0},{15.278,2.5994,0},{-0.028775,2.6077,0},{15.278,2.5994,0},{13.278,1.3329,0},{-0.028727,1.2617,0},{18.278,-3.7334,0},{18.278,-3.7334,0},{2.2722,-1.2003,0},{-0.028727,-1.3098,0},{4.2722,-5,0},{4.2722,-5,0},{-0.028727,-5,0},{-3.3582,30.464,0},{-3.3582,30.464,0},{-1.3526,29.197,0},{-1.3526,29.197,0},{-1.3526,29.197,0},{-5.3582,25.398,0},{-1.3526,29.197,0},{-5.3582,25.398,0},{-3.4126,24.099,0},{-7.276,20.299,0},{-5.3582,19.065,0},{-9.3582,15.265,0},{-9.3582,15.265,0},{-7.4575,13.999,0},{-9.3582,15.265,0},{-12.358,8.9323,0},{-12.358,8.9323,0},{-10.358,7.6657,0},{-15.358,2.5994,0},{-15.358,2.5994,0},{-13.358,1.3329,0},{-18.358,-3.7334,0},{-18.358,-3.7334,0},{-2.3526,-1.2003,0},{-4.3526,-5,0},{-4.3526,-5,0},{0,34.31,0.040181},{0,30.464,-3.2778},{0,30.464,0.040181},{0,30.464,0.028749},{0,30.464,-3.2778},{0,29.197,-1.2722},{0,29.197,-1.2722},{0,29.197,0.028703},{0,29.197,-1.2722},{0,25.398,-5.2778},{0,25.398,0.02865},{0,29.197,-1.2722},{0,25.398,-5.2778},{0,24.099,-3.3322},{0,24.099,0.028683},{0,20.299,-7.1957},{0,20.299,0.02861},{0,19.065,-5.2778},{0,18.984,0.028663},{0,15.265,-9.2778},{0,15.185,0.028571},{0,15.265,-9.2778},{0,13.999,-7.3772},{0,13.901,0.028625},{0,15.265,-9.2778},{0,8.9323,-12.278},{0,8.9742,0.028771},{0,8.9323,-12.278},{0,7.6657,-10.278},{0,7.6552,0.028592},{0,2.5994,-15.278},{0,2.6077,0.028775},{0,2.5994,-15.278},{0,1.3329,-13.278},{0,1.2617,0.028727},{0,-3.7334,-18.278},{0,-3.7334,-18.278},{0,-1.2003,-2.2722},{0,-1.3098,0.028727},{0,-5,-4.2722},{0,-5,-4.2722},{0,-5,0.028727},{0,30.464,3.3582},{0,30.464,3.3582},{0,29.197,1.3526},{0,29.197,1.3526},{0,29.197,1.3526},{0,25.398,5.3582},{0,29.197,1.3526},{0,25.398,5.3582},{0,24.099,3.4126},{0,20.299,7.276},{0,19.065,5.3582},{0,15.265,9.3582},{0,15.265,9.3582},{0,13.999,7.4575},{0,15.265,9.3582},{0,8.9323,12.358},{0,8.9323,12.358},{0,7.6657,10.358},{0,2.5994,15.358},{0,2.5994,15.358},{0,1.3329,13.358},{0,-3.7334,18.358},{0,-3.7334,18.358},{0,-1.2003,2.3526},{0,-5,4.3526},{0,-5,4.3526}};
const int numTris = 128;
//tris[n*3],tris[n*3+1],tris[n*3+2]分别为第n个三角形的三个顶点在verts[]的编号
int tris[numTris * 3] ={8,   7,   9,   6,   5,   7,   4,   3,   5,   2,   1,   3,   0,   9,   1,5,   3,   7,   7,   3,   9,   9,   3,   1,  10,  12,  11,  13,  15,  14,15,  13,  16,  13,  17,  16,  18,  20,  19,  17,  20,  21,  20,  23,  22,20,  24,  23,  23,  26,  25,  24,  26,  23,  26,  27,  25,  26,  28,  27,27,  30,  29,  28,  30,  27,  30,  32,  31,  30,  33,  32,  27,  30,  34,32,  36,  35,  33,  36,  32,  36,  38,  37,  36,  39,  38,  38,  41,  40,39,  41,  38,  41,  43,  42,  41,  44,  43,  44,  45,  43,  44,  47,  46,44,  48,  47,  48,  49,  47,  48,  51,  50,  10,  52,  12,  13,  53,  54,55,  17,  54,  13,  54,  17,  56,  57,  20,  17,  58,  20,  20,  59,  60,20,  60,  24,  60,  61,  26,  24,  60,  26,  26,  61,  62,  26,  62,  28,62,  63,  30,  28,  62,  30,  30,  64,  65,  30,  65,  33,  62,  66,  30,65,  67,  36,  33,  65,  36,  36,  68,  69,  36,  69,  39,  69,  70,  41,39,  69,  41,  41,  71,  72,  41,  72,  44,  44,  72,  73,  44,  74,  75,44,  75,  48,  48,  75,  76,  48,  77,  51,  78,  80,  79,  81,  83,  82,83,  81,  84,  81,  85,  84,  86,  88,  87,  85,  88,  89,  88,  91,  90,88,  92,  91,  91,  94,  93,  92,  94,  91,  94,  95,  93,  94,  96,  95,95,  98,  97,  96,  98,  95,  98, 100,  99,  98, 101, 100,  95,  98, 102,100, 104, 103, 101, 104, 100, 104, 106, 105, 104, 107, 106, 106, 109, 108,107, 109, 106, 109, 111, 110, 109, 112, 111, 112, 113, 111, 112, 115, 114,112, 116, 115, 116, 117, 115, 116, 119, 118,  78, 120,  80,  81, 121, 122,123,  85, 122,  81, 122,  85, 124, 125,  88,  85, 126,  88,  88, 127, 128,88, 128,  92, 128, 129,  94,  92, 128,  94,  94, 129, 130,  94, 130,  96,130, 131,  98,  96, 130,  98,  98, 132, 133,  98, 133, 101, 130, 134,  98,133, 135, 104, 101, 133, 104, 104, 136, 137, 104, 137, 107, 137, 138, 109,107, 137, 109, 109, 139, 140, 109, 140, 112, 112, 140, 141, 112, 142, 143,112, 143, 116, 116, 143, 144, 116, 145, 119};
//计算在世界空间中定义的点的二维像素坐标。
bool computePixelCoordinates(const Vec3f pWorld, Vec2i &pRaster, const Matrix44f &worldToCamera, const float &canvasWidth, const float &canvasHeight, const int &imageWidth, const int &imageHeight)
{
	Vec3f pCamera;
	worldToCamera.multVecMatrix(pWorld, pCamera);
	if(pCamera.z>0)return 0;
	Vec2f pScreen;
	pScreen.x = pCamera.x / -pCamera.z;
	pScreen.y = pCamera.y / -pCamera.z;
	Vec2f pNDC;
	pNDC.x = (pScreen.x + canvasWidth * 0.5) / canvasWidth;
	pNDC.y = (pScreen.y + canvasHeight * 0.5) / canvasHeight;
	pRaster.x = (int)(pNDC.x * imageWidth);
	pRaster.y = (int)((1 - pNDC.y) * imageHeight);
	return 1;
}
Vec3f camera(14.77747,29.36194,27.99346),X0(1,0,0),Y0(0,1,0),Z0(0,0,1);
float Rotate_x,Rotate_y;
int main(int argc, char **argv)
{
	initgraph(512,512);
	float canvasWidth = 2, canvasHeight = 2;
	int imageWidth = 512, imageHeight = 512;
	while(1)
	{
		VECTOR3D RX(X0.x,X0.y,X0.z),RY(Y0.x,Y0.y,Y0.z),RZ(Z0.x,Z0.y,Z0.z);
		Vec3f X=X0,Y=Y0,Z=Z0,FORWARD,RIGHT;
		X.rotate_point3d_y(Rotate_y);Y.rotate_point3d_y(Rotate_y);Z.rotate_point3d_y(Rotate_y);
		X.rotate_point3d_x(Rotate_x);Y.rotate_point3d_x(Rotate_x);Z.rotate_point3d_x(Rotate_x);
		Matrix44f cameraToWorld(X.x, Y.x, Z.x, 0, X.y, Y.y, Z.y, 0, X.z, Y.z, Z.z, 0, camera.x, camera.y, camera.z, 1);
		Matrix44f worldToCamera = cameraToWorld.inverse();
		cleardevice();
		for (int i = 0; i < numTris; ++i)
		{
			const Vec3f &v0World = verts[tris[i * 3]];
			const Vec3f &v1World = verts[tris[i * 3 + 1]];
			const Vec3f &v2World = verts[tris[i * 3 + 2]];
			Vec2i v0Raster, v1Raster, v2Raster;
			bool show0=computePixelCoordinates(v0World, v0Raster, worldToCamera, canvasWidth, canvasHeight, imageWidth, imageHeight);
			bool show1=computePixelCoordinates(v1World, v1Raster, worldToCamera, canvasWidth, canvasHeight, imageWidth, imageHeight);
			bool show2=computePixelCoordinates(v2World, v2Raster, worldToCamera, canvasWidth, canvasHeight, imageWidth, imageHeight);
			if(show0&&show1)line(v0Raster.x,v0Raster.y,v1Raster.x,v1Raster.y);
			if(show0&&show2)line(v0Raster.x,v0Raster.y,v2Raster.x,v2Raster.y);
			if(show2&&show1)line(v2Raster.x,v2Raster.y,v1Raster.x,v1Raster.y);
		}
		Vec3f S(worldToCamera[0][2],0.0,worldToCamera[2][2]);
		Vec3f D(worldToCamera[0][0],0.0,worldToCamera[2][0]);
		S.normalize();D.normalize();
		line(400,400,400-S.x*50,400-S.z*50);
		while(kbhit())
		{
			int t=getch();
			if(t=='w')camera=camera-S;
			if(t=='s')camera=camera+S;
			if(t=='a')camera=camera-D;
			if(t=='d')camera=camera+D;
		}
		while(mousemsg())
		{
			mouse_msg m=getmouse();
			if(m.is_move())
			{
				Rotate_x=m.y*pi/imageWidth-pi/2;
				Rotate_y=m.x*pi*2/imageHeight-pi;
			}
		}
		delay_ms(100);
	}
	return 0;
}