C++实现蜂群涌现效果（flocking）

//////////////////////////////////////////////////////////// // Headers //////////////////////////////////////////////////////////// #define GLAD_VULKAN_IMPLEMENTATION #include <vulkan.h> // Include graphics because we use sf::Image for loading images #include <SFML/Graphics.hpp> #include <SFML/Window.hpp> #include <vector> #include <limits> #include <cstring> #include <cmath> //////////////////////////////////////////////////////////// // Helper functions //////////////////////////////////////////////////////////// namespace { typedef float Vec3[3]; typedef float Matrix[4][4]; // Multiply 2 matrices void matrixMultiply(Matrix& result, const Matrix& left, const Matrix& right) { Matrix temp; for (int i = 0; i < 4; i++) { for (int j = 0; j < 4; j++) temp[i][j] = left[0][j] * right[i][0] + left[1][j] * right[i][1] + left[2][j] * right[i][2] + left[3][j] * right[i][3]; } std::memcpy(result, temp, sizeof(Matrix)); } // Rotate a matrix around the x-axis void matrixRotateX(Matrix& result, float angle) { Matrix matrix = { {1.f, 0.f, 0.f, 0.f}, {0.f, std::cos(angle), std::sin(angle), 0.f}, {0.f, -std::sin(angle), std::cos(angle), 0.f}, {0.f, 0.f, 0.f, 1.f} }; matrixMultiply(result, result, matrix); } // Rotate a matrix around the y-axis void matrixRotateY(Matrix& result, float angle) { Matrix matrix = { { std::cos(angle), 0.f, std::sin(angle), 0.f}, { 0.f, 1.f, 0.f, 0.f}, {-std::sin(angle), 0.f, std::cos(angle), 0.f}, { 0.f, 0.f, 0.f, 1.f} }; matrixMultiply(result, result, matrix); } // Rotate a matrix around the z-axis void matrixRotateZ(Matrix& result, float angle) { Matrix matrix = { { std::cos(angle), std::sin(angle), 0.f, 0.f}, {-std::sin(angle), std::cos(angle), 0.f, 0.f}, { 0.f, 0.f, 1.f, 0.f}, { 0.f, 0.f, 0.f, 1.f} }; matrixMultiply(result, result, matrix); } // Construct a lookat view matrix void matrixLookAt(Matrix& result, const Vec3& eye, const Vec3& center, const Vec3& up) { // Forward-looking vector Vec3 forward = { center[0] - eye[0], center[1] - eye[1], center[2] - eye[2] }; // Normalize float factor = 1.0f / std::sqrt(forward[0] * forward[0] + forward[1] * forward[1] + forward[2] * forward[2]); for(int i = 0; i < 3; i++) forward[i] = forward[i] * factor; // Side vector (Forward cross product Up) Vec3 side = { forward[1] * up[2] - forward[2] * up[1], forward[2] * up[0] - forward[0] * up[2], forward[0] * up[1] - forward[1] * up[0] }; // Normalize factor = 1.0f / std::sqrt(side[0] * side[0] + side[1] * side[1] + side[2] * side[2]); for(int i = 0; i < 3; i++) side[i] = side[i] * factor; result[0][0] = side[0]; result[0][1] = side[1] * forward[2] - side[2] * forward[1]; result[0][2] = -forward[0]; result[0][3] = 0.f; result[1][0] = side[1]; result[1][1] = side[2] * forward[0] - side[0] * forward[2]; result[1][2] = -forward[1]; result[1][3] = 0.f; result[2][0] = side[2]; result[2][1] = side[0] * forward[1] - side[1] * forward[0]; result[2][2] = -forward[2]; result[2][3] = 0.f; result[3][0] = (-eye[0]) * result[0][0] + (-eye[1]) * result[1][0] + (-eye[2]) * result[2][0]; result[3][1] = (-eye[0]) * result[0][1] + (-eye[1]) * result[1][1] + (-eye[2]) * result[2][1]; result[3][2] = (-eye[0]) * result[0][2] + (-eye[1]) * result[1][2] + (-eye[2]) * result[2][2]; result[3][3] = (-eye[0]) * result[0][3] + (-eye[1]) * result[1][3] + (-eye[2]) * result[2][3] + 1.0f; } // Construct a perspective projection matrix void matrixPerspective(Matrix& result, float fov, float aspect, float nearPlane, float farPlane) { const float a = 1.f / std::tan(fov / 2.f); result[0][0] = a / aspect; result[0][1] = 0.f; result[0][2] = 0.f; result[0][3] = 0.f; result[1][0] = 0.f; result[1][1] = -a; result[1][2] = 0.f; result[1][3] = 0.f; result[2][0] = 0.f; result[2][1] = 0.f; result[2][2] = -((farPlane + nearPlane) / (farPlane - nearPlane)); result[2][3] = -1.f; result[3][0] = 0.f; result[3][1] = 0.f; result[3][2] = -((2.f * farPlane * nearPlane) / (farPlane - nearPlane)); result[3][3] = 0.f; } // Clamp a value between low and high values template<typename T> T clamp(T value, T low, T high) { return (value <= low) ? low : ((value >= high) ? high : value); } // Helper function we pass to GLAD to load Vulkan functions via SFML GLADapiproc getVulkanFunction(const char* name) { return sf::Vulkan::getFunction(name); } // Debug we pass to Vulkan to call when it detects warnings or errors VKAPI_ATTR VkBool32 VKAPI_CALL debugCallback(VkDebugReportFlagsEXT, VkDebugReportObjectTypeEXT, uint64_t, size_t, int32_t, const char*, const char* pMessage, void*) { sf::err() << pMessage << std::endl; return VK_FALSE; } } //////////////////////////////////////////////////////////// // VulkanExample class //////////////////////////////////////////////////////////// class VulkanExample { public: // Constructor VulkanExample() : window(sf::VideoMode(800, 600), "SFML window with Vulkan", sf::Style::Default), vulkanAvailable(sf::Vulkan::isAvailable()), maxFramesInFlight(2), currentFrame(0), swapchainOutOfDate(false), instance(0), debugReportCallback(0), surface(0), gpu(0), queueFamilyIndex(-1), device(0), queue(0), swapchainFormat(), swapchainExtent(), swapchain(0), depthFormat(VK_FORMAT_UNDEFINED), depthImage(0), depthImageMemory(0), depthImageView(0), vertexShaderModule(0), fragmentShaderModule(0), descriptorSetLayout(0), pipelineLayout(0), renderPass(0), graphicsPipeline(0), commandPool(0), vertexBuffer(0), vertexBufferMemory(0), indexBuffer(0), indexBufferMemory(0), textureImage(0), textureImageMemory(0), textureImageView(0), textureSampler(0), descriptorPool(0) { // Vulkan setup procedure if (vulkanAvailable) setupInstance(); if (vulkanAvailable) setupDebugReportCallback(); if (vulkanAvailable) setupSurface(); if (vulkanAvailable) setupPhysicalDevice(); if (vulkanAvailable) setupLogicalDevice(); if (vulkanAvailable) setupSwapchain(); if (vulkanAvailable) setupSwapchainImages(); if (vulkanAvailable) setupShaders(); if (vulkanAvailable) setupRenderpass(); if (vulkanAvailable) setupDescriptorSetLayout(); if (vulkanAvailable) setupPipelineLayout(); if (vulkanAvailable) setupPipeline(); if (vulkanAvailable) setupCommandPool(); if (vulkanAvailable) setupVertexBuffer(); if (vulkanAvailable) setupIndexBuffer(); if (vulkanAvailable) setupUniformBuffers(); if (vulkanAvailable) setupDepthImage(); if (vulkanAvailable) setupDepthImageView(); if (vulkanAvailable) setupTextureImage(); if (vulkanAvailable) setupTextureImageView(); if (vulkanAvailable) setupTextureSampler(); if (vulkanAvailable) setupFramebuffers(); if (vulkanAvailable) setupDescriptorPool(); if (vulkanA