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fix various bug and add debug 

triangle_3_triangle_3_intersection now passes
This commit is contained in:
Sébastien Loriot 2023-03-01 15:39:28 +01:00
parent 8bea32df62
commit 8e050bdb49
1 changed files with 97 additions and 32 deletions
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129
Intersections_3/include/CGAL/Intersections_3/internal/Triangle_3_Triangle_3_intersection.h
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@ -14,6 +14,8 @@
#ifndef CGAL_INTERNAL_INTERSECTIONS_TRIANGLE_3_TRIANGLE_3_INTERSECTION_H #ifndef CGAL_INTERNAL_INTERSECTIONS_TRIANGLE_3_TRIANGLE_3_INTERSECTION_H
#define CGAL_INTERNAL_INTERSECTIONS_TRIANGLE_3_TRIANGLE_3_INTERSECTION_H #define CGAL_INTERNAL_INTERSECTIONS_TRIANGLE_3_TRIANGLE_3_INTERSECTION_H
//#define CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
#include <CGAL/Intersection_traits_3.h> #include <CGAL/Intersection_traits_3.h>
#include <CGAL/Intersections_3/internal/Line_3_Triangle_3_intersection.h> #include <CGAL/Intersections_3/internal/Line_3_Triangle_3_intersection.h>
#include <CGAL/Intersections_3/internal/Line_3_Line_3_intersection.h> #include <CGAL/Intersections_3/internal/Line_3_Line_3_intersection.h>
@ -74,21 +76,20 @@ struct Point_on_triangle
} }
} }
Point_on_triangle(int i1, int i2=-1, int sign=0, typename Kernel::FT alpha = 0.) // TODO add global zero()? Point_on_triangle(int i1, int i2=-1, typename Kernel::FT alpha = 0.) // TODO add global zero()?
: t1_t2_ids(i1,i2) : t1_t2_ids(i1,i2)
, sign(sign) , alpha(alpha)
{} {}
// (id, -1) point on t1 // (id, -1) point on t1
// (-1, id) point on t2 // (-1, id) point on t2
// (id1, id2) intersection of edges // (id1, id2) intersection of edges
std::pair<int, int> t1_t2_ids; std::pair<int, int> t1_t2_ids;
int sign;
typename Kernel::FT alpha; typename Kernel::FT alpha;
Orientation Orientation
orientation (const typename Kernel::Point_3& p1, // source of edge edge_ids1 orientation (const typename Kernel::Point_3& p1, // source of edge edge_id1
const typename Kernel::Point_3& q1, // target of edge edge_ids1 const typename Kernel::Point_3& q1, // target of edge edge_id1
const typename Kernel::Point_3& r1, const typename Kernel::Point_3& r1,
int edge_id1, int edge_id1,
const typename Kernel::Point_3& p2, const typename Kernel::Point_3& p2,
@ -98,15 +99,21 @@ struct Point_on_triangle
{ {
if (t1_t2_ids.first!=-1) if (t1_t2_ids.first!=-1)
{ {
if (t1_t2_ids.second==-1) return ZERO; // it is a point on t1 if (t1_t2_ids.second==-1)
return (edge_id1==t1_t2_ids.first || (edge_id1+1)%3==t1_t2_ids.first) ? ZERO:POSITIVE; // it is a point on t1
// this is an intersection point // this is an intersection point
if (sign == 0)
return POSITIVE; if (t1_t2_ids.first==edge_id1)
if (sign == -1) return ZERO;
return edge_id1==t1_t2_ids.first+1?POSITIVE:NEGATIVE; if (t1_t2_ids.first==(edge_id1+1)%3)
else {
return edge_id1==t1_t2_ids.first+1?NEGATIVE:POSITIVE; if (alpha==0) return ZERO;
} return alpha>=0 ? POSITIVE:NEGATIVE;
}
CGAL_assertion((t1_t2_ids.first+1)%3==edge_id1);
if (alpha==1) return ZERO;
return alpha<=1?POSITIVE:NEGATIVE;
}
else else
{ {
//this is an input point of t2 //this is an input point of t2
@ -150,6 +157,11 @@ intersection(const Point_on_triangle<Kernel>& p,
const typename Kernel::Point_3& r2, const typename Kernel::Point_3& r2,
const Kernel& k) const Kernel& k)
{ {
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
std::cout << " calling intersection: ";
std::cout << " (" << p.id1() << "," << p.id2() << ",[" << p.alpha << "])-";
std::cout << " (" << q.id1() << "," << q.id2() << ",[" << q.alpha << "]) || e" << edge_id_t1 << "\n";
#endif
typedef Point_on_triangle<Kernel> Pot; typedef Point_on_triangle<Kernel> Pot;
switch(p.id1()) switch(p.id1())
{ {
@ -163,21 +175,23 @@ intersection(const Point_on_triangle<Kernel>& p,
coplanar_segment_segment_alpha_intersection(p1, q1, coplanar_segment_segment_alpha_intersection(p1, q1,
Pot::point_from_id(p2, q2, r2, p.id2()), Pot::point_from_id(p2, q2, r2, p.id2()),
Pot::point_from_id(p2, q2, r2, q.id2()), k); Pot::point_from_id(p2, q2, r2, q.id2()), k);
int sgn = sign(alpha); return Point_on_triangle<Kernel>(edge_id_t1, p.id2(), alpha); // intersection with an original edge of t2
return Point_on_triangle<Kernel>(edge_id_t1, p.id2(), sgn, alpha); // intersection with an original edge of t2
} }
default: default:
if (q.id2()!=-1) // (-1, ip2) - (iq1, iq2) if (q.id2()!=-1) // (-1, ip2) - (iq1, iq2)
{ {
// we shorten an already cut edge if (p.id2() == q.id2() || p.id2() == (q.id2()+1)%3)
CGAL_assertion((p.id2()+1)%3 == q.id2()); {
// points are on the same edge of t2 --> we shorten an already cut edge
typename Kernel::FT alpha =
coplanar_segment_segment_alpha_intersection(p1, q1,
Pot::point_from_id(p2, q2, r2, q.id2()),
Pot::point_from_id(p2, q2, r2, (q.id2()+1)%3), k);
typename Kernel::FT alpha = return Point_on_triangle<Kernel>(edge_id_t1, q.id2(), alpha);
coplanar_segment_segment_alpha_intersection(p1, q1, }
Pot::point_from_id(p2, q2, r2, p.id2()), // point of t1
Pot::point_from_id(p2, q2, r2, q.id2()), k); return Point_on_triangle<Kernel>((q.id1()+1)%3==edge_id_t1?edge_id_t1:(edge_id_t1+1)%3 , -1);
int sgn = sign(alpha);
return Point_on_triangle<Kernel>(edge_id_t1, p.id2(), sgn, alpha);
} }
// (-1, ip2) - (iq1, -1) // (-1, ip2) - (iq1, -1)
//vertex of t1, special case t1 edge passed thru a vertex of t2 //vertex of t1, special case t1 edge passed thru a vertex of t2
@ -211,15 +225,18 @@ intersection(const Point_on_triangle<Kernel>& p,
{ {
case -1: // (ip1, ip2) - (-1, iq2) case -1: // (ip1, ip2) - (-1, iq2)
{ {
// we shorten an already cut edge if (q.id2() == p.id2() || q.id2() == (p.id2()+1)%3)
CGAL_assertion((q.id2()+1)%3 == p.id2()); {
// points are on the same edge of t2 --> we shorten an already cut edge
typename Kernel::FT alpha =
coplanar_segment_segment_alpha_intersection(p1, q1,
Pot::point_from_id(p2, q2, r2, p.id2()),
Pot::point_from_id(p2, q2, r2, (p.id2()+1)%3), k);
typename Kernel::FT alpha = return Point_on_triangle<Kernel>(edge_id_t1, p.id2(), alpha);
coplanar_segment_segment_alpha_intersection(p1, q1, }
Pot::point_from_id(p2, q2, r2, q.id2()), // point of t1
Pot::point_from_id(p2, q2, r2, p.id2()), k); return Point_on_triangle<Kernel>((p.id1()+1)%3==edge_id_t1?edge_id_t1:(edge_id_t1+1)%3 , -1);
int sgn = sign(alpha);
return Point_on_triangle<Kernel>(edge_id_t1, p.id2(), sgn, alpha);
} }
default: default:
{ {
@ -231,7 +248,8 @@ intersection(const Point_on_triangle<Kernel>& p,
return Point_on_triangle<Kernel>(p.id1()==1?2:0); // vertex of t1 return Point_on_triangle<Kernel>(p.id1()==1?2:0); // vertex of t1
} }
default: // (ip1, ip2) - (iq1, iq2) default: // (ip1, ip2) - (iq1, iq2)
return Point_on_triangle<Kernel>((p.id1()+1)%3==q.id1()?q.id1():p.id1(), -1); // vertex of t1 CGAL_assertion(p.id1()==q.id1());
return Point_on_triangle<Kernel>((p.id1()+1)%3==edge_id_t1?edge_id_t1:(edge_id_t1+1)%3, -1); // vertex of t1
} }
} }
} }
@ -252,6 +270,11 @@ void intersection_coplanar_triangles_cutoff(const typename Kernel::Point_3& p1,
const Kernel& k, const Kernel& k,
std::list<Point_on_triangle<Kernel>>& inter_pts) std::list<Point_on_triangle<Kernel>>& inter_pts)
{ {
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
std::cout << " cutoff using e" << edge_id << ": "
<< to_double(p1.x()) << " " << to_double(p1.y()) << " " << to_double(p1.z()) << " "
<< to_double(q1.x()) << " " << to_double(q1.y()) << " " << to_double(q1.z()) << "\n";
#endif
typedef typename std::list<Point_on_triangle<Kernel>>::iterator Iterator; typedef typename std::list<Point_on_triangle<Kernel>>::iterator Iterator;
if(inter_pts.empty()) if(inter_pts.empty())
@ -262,6 +285,12 @@ void intersection_coplanar_triangles_cutoff(const typename Kernel::Point_3& p1,
for (const Point_on_triangle<Kernel>& pot : inter_pts) for (const Point_on_triangle<Kernel>& pot : inter_pts)
orientations[ &pot ]=pot.orientation(p1,q1,r1,edge_id,p2,q2,r2,k); orientations[ &pot ]=pot.orientation(p1,q1,r1,edge_id,p2,q2,r2,k);
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
std::cout << " Orientations:";
for (const Point_on_triangle<Kernel>& pot : inter_pts)
std::cout << " " << orientations[ &pot ];
std::cout << "\n";
#endif
CGAL_kernel_assertion_code(int pt_added = 0); CGAL_kernel_assertion_code(int pt_added = 0);
Iterator prev = std::prev(inter_pts.end()); Iterator prev = std::prev(inter_pts.end());
@ -301,6 +330,22 @@ intersection_coplanar_triangles(const typename K::Triangle_3& t1,
const typename K::Triangle_3& t2, const typename K::Triangle_3& t2,
const K& k) const K& k)
{ {
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
auto to_string = [](const typename K::Triangle_3& t)
{
std::stringstream sstr;
sstr << "4 "
<< to_double(t[0].x()) << " " << to_double(t[0].y()) << " " << to_double(t[0].z()) << " "
<< to_double(t[1].x()) << " " << to_double(t[1].y()) << " " << to_double(t[1].z()) << " "
<< to_double(t[2].x()) << " " << to_double(t[2].y()) << " " << to_double(t[2].z()) << " "
<< to_double(t[0].x()) << " " << to_double(t[0].y()) << " " << to_double(t[0].z()) << "\n";
return sstr.str();
};
std::cout << "intersection_coplanar_triangles\n";
std::ofstream("/tmp/t1.polylines.txt") << to_string(t1) << "\n";
std::ofstream("/tmp/t2.polylines.txt") << to_string(t2) << "\n";
#endif
const typename K::Point_3& p1 = t1.vertex(0), const typename K::Point_3& p1 = t1.vertex(0),
q1 = t1.vertex(1), q1 = t1.vertex(1),
r1 = t1.vertex(2); r1 = t1.vertex(2);
@ -314,10 +359,30 @@ intersection_coplanar_triangles(const typename K::Triangle_3& t1,
inter_pts.push_back(Point_on_triangle<K>(-1,1)); inter_pts.push_back(Point_on_triangle<K>(-1,1));
inter_pts.push_back(Point_on_triangle<K>(-1,2)); inter_pts.push_back(Point_on_triangle<K>(-1,2));
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
auto print_points = [&]()
{
for(auto p : inter_pts) std::cout << " (" << p.id1() << "," << p.id2() << ",[" << p.alpha << "]) "; std::cout <<"\n";
};
std::cout << " ipts size: " << inter_pts.size() << "\n";
print_points();
#endif
//intersect t2 with the three half planes which intersection defines t1 //intersect t2 with the three half planes which intersection defines t1
intersection_coplanar_triangles_cutoff(p1,q1,r1,0,p2,q2,r2,k,inter_pts); //line pq intersection_coplanar_triangles_cutoff(p1,q1,r1,0,p2,q2,r2,k,inter_pts); //line pq
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
std::cout << " ipts size: " << inter_pts.size() << "\n";
print_points();
#endif
intersection_coplanar_triangles_cutoff(q1,r1,p1,1,p2,q2,r2,k,inter_pts); //line qr intersection_coplanar_triangles_cutoff(q1,r1,p1,1,p2,q2,r2,k,inter_pts); //line qr
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
std::cout << " ipts size: " << inter_pts.size() << "\n";
print_points();
#endif
intersection_coplanar_triangles_cutoff(r1,p1,q1,2,p2,q2,r2,k,inter_pts); //line rp intersection_coplanar_triangles_cutoff(r1,p1,q1,2,p2,q2,r2,k,inter_pts); //line rp
#ifdef CGAL_DEBUG_COPLANAR_T3_T3_INTERSECTION
std::cout << " ipts size: " << inter_pts.size() << "\n";
print_points();
#endif
auto point = [&](const Point_on_triangle<K>& pot){ return pot.point(p1,q1,r1,p2,q2,r2,k); }; auto point = [&](const Point_on_triangle<K>& pot){ return pot.point(p1,q1,r1,p2,q2,r2,k); };
switch(inter_pts.size()) switch(inter_pts.size())