How to Rotate a Vertex by a Quaternion in GLSL
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This article details an algorithm and associated sample code for software occlusion culling. The technique divides scene objects into occluders and occludees, and culls occludees based on a depth comparison with the occluders, software rasterized to the depth buffer. The sample code is optimized with SSE* and multi-threading, and uses frustum culling to achieve an 8X performance speedup compared to a non-culled display of the sample scene.