Code:

structDbvtBroadphaseFrustumCulling : btDbvt::ICollide {btAlignedObjectArray<btCollisionObject*>* m_pCollisionObjectArray;short int m_collisionFilterMask;btCollisionObject* m_additionalCollisionObjectToExclude;// Unused in this demoDbvtBroadphaseFrustumCulling(btAlignedObjectArray<btCollisionObject*>* _pArray = NULL): m_pCollisionObjectArray(_pArray), m_collisionFilterMask(btBroadphaseProxy::AllFilter & ~btBroadphaseProxy::SensorTrigger), m_additionalCollisionObjectToExclude(NULL){}void Process(const btDbvtNode* node, btScalar depth) { Process(node); }void Process(const btDbvtNode* leaf){btBroadphaseProxy* proxy = static_cast <btBroadphaseProxy*> (leaf->data);btCollisionObject* co = static_cast <btCollisionObject*> (proxy->m_clientObject);if ((proxy->m_collisionFilterGroup & m_collisionFilterMask) != 0 && co != m_additionalCollisionObjectToExclude){m_pCollisionObjectArray->push_back(co);}}} g_DBFC;

Code:

void performFrustumCulling(glm::mat4 &Mat) {m_objectsInFrustum.resize(0);// clear() is probably slowerFrustum Frst(Mat);btVector3 planes_n[5]{};btScalar  planes_o[5]{};for (int i = 0; i < 5; i++){planes_n[i].setX(Frst.planes[i].normal.x);planes_n[i].setY(Frst.planes[i].normal.y);planes_n[i].setZ(Frst.planes[i].normal.z);planes_o[i] = Frst.planes[i].d;}//=======================================================// OK, now the pure btDbvt code starts here://=======================================================g_DBFC.m_pCollisionObjectArray = &m_objectsInFrustum;g_DBFC.m_collisionFilterMask = btBroadphaseProxy::AllFilter & ~btBroadphaseProxy::SensorTrigger;// This won't display sensors...g_DBFC.m_additionalCollisionObjectToExclude = NULL;btDbvt::collideKDOP(broadphase_->m_sets[1].m_root, planes_n, planes_o, 5, g_DBFC);btDbvt::collideKDOP(broadphase_->m_sets[0].m_root, planes_n, planes_o, 5, g_DBFC);// btDbvt::collideKDOP(root,normals,offsets,count,icollide):}

Code:

class Plane{public:Plane() {}Plane(const glm::vec4& abcd): normal(abcd.x, abcd.y, abcd.z), d(abcd.w) {}void normalize(){float mag = glm::length(normal);normal /= mag;d /= mag;}glm::vec3 normal;float d;        // distance from origin};class Frustum{public:Frustum(const glm::mat4& mat, bool normalize_planes = true)// create frustum from  matrix// if extracted from projection matrix only, planes will be in eye-space// if extracted from view*projection, planes will be in world space// if extracted from model*view*projection planes will be in model space{// create non-normalized clipping planesplanes[0] = Plane(mat[3] - mat[0]);       // rightplanes[1] = Plane(mat[3] + mat[0]);       // leftplanes[2] = Plane(mat[3] - mat[1]);       // topplanes[3] = Plane(mat[3] + mat[1]);       // bottomplanes[4] = Plane(mat[3] - mat[2]);       // farplanes[5] = Plane(mat[3] + mat[2]);       // near// normalize the plane equations, if requestedif (normalize_planes){planes[0].normalize();planes[1].normalize();planes[2].normalize();planes[3].normalize();planes[4].normalize();planes[5].normalize();}}Plane planes[6];        // plane normals point into frustum};

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const CameraPushConstant& GetCPC(const float& ScrWidth, const float& ScrHeight, const float& zNear, const float& zFar, const float& FOV){CPC.view_proj = glm::perspective(glm::radians(FOV), ScrWidth/ScrHeight, zNear, zFar);CPC.view_proj[1][1] *= -1;CPC.view_proj *= View;View_Proj = CPC.view_proj;CPC.pos = glm::vec4(Pos.x, Pos.y, Pos.z, 0.0f);return CPC;}

Code:

if (deltaFrame > 0.0f){//if (isWorld) {dynamicsWorld->stepSimulation(deltaFrame, 5, 1.f/66.f);//}SceneGraph::updateUniformBuffer(currentFrame);////Frustum CullingperformFrustumCulling(SceneGraph::GetCamera().View_Proj);if (m_objectsInFrustum.size() > 0)//printf("Frustum %i\n", m_objectsInFrustum.size());for (int i = 0; i < m_objectsInFrustum.size(); i++){btCollisionObject* Obj = m_objectsInFrustum[i];SceneNode* Nd = reinterpret_cast<SceneNode*>(Obj->getUserPointer());printf("Frustum Name: %s\n", Nd->Name.c_str());}////Draw FrameRender();}