mirror of https://github.com/CGAL/cgal
Reapply changes from PR #5680 (merge conflict resolution)
Outside of the merge commit for clarity.
This commit is contained in:
Mael Rouxel-Labbé
parent
084a1efe2d
commit
a4a00d969d
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@ -12,7 +12,7 @@
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// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial
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//
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//
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// Author(s) : Geert-Jan Giezeman, Andreas Fabri
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// Author(s) : Geert-Jan Giezeman, Andreas Fabri, Mael Rouxel-Labbé
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#ifndef CGAL_DISTANCE_3_POINT_3_LINE_3_H
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#define CGAL_DISTANCE_3_POINT_3_LINE_3_H
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@ -26,19 +26,34 @@ namespace CGAL {
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namespace internal {
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template <class K>
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typename K::FT
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squared_distance(const typename K::Point_3& pt,
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const typename K::Line_3& line,
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void
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squared_distance_RT(const typename K::Point_3 &pt,
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const typename K::Line_3 &line,
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typename K::RT& num,
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typename K::RT& den,
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const K& k)
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{
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typedef typename K::Vector_3 Vector_3;
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typename K::Construct_vector_3 vector = k.construct_vector_3_object();
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const Vector_3 dir(line.direction().vector());
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const Vector_3& dir = line.direction().vector();
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const Vector_3 diff = vector(line.point(), pt);
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return internal::squared_distance_to_line(dir, diff, k);
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return internal::squared_distance_to_line_RT(dir, diff, num, den, k);
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}
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template <class K>
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typename K::FT
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squared_distance(const typename K::Point_3& pt,
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const typename K::Line_3& line,
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const K& k)
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{
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typedef typename K::RT RT;
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typedef typename K::FT FT;
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RT num, den;
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squared_distance_RT(pt, line, num, den, k);
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return Rational_traits<FT>().make_rational(num, den);
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}
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template <class K>
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@ -12,7 +12,7 @@
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// SPDX-License-Identifier: LGPL-3.0-or-later OR LicenseRef-Commercial
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//
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//
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// Author(s) : Geert-Jan Giezeman, Andreas Fabri
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// Author(s) : Geert-Jan Giezeman, Andreas Fabri, Mael Rouxel-Labbé
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#ifndef CGAL_DISTANCE_3_POINT_3_RAY_3_H
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#define CGAL_DISTANCE_3_POINT_3_RAY_3_H
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@ -25,18 +25,52 @@
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namespace CGAL {
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namespace internal {
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template <class K>
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void
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squared_distance_RT(const typename K::Point_3 &pt,
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const typename K::Ray_3 &ray,
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typename K::RT& num,
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typename K::RT& den,
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const K& k)
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{
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typedef typename K::Vector_3 Vector_3;
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typedef typename K::RT RT;
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typename K::Construct_vector_3 vector = k.construct_vector_3_object();
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const Vector_3 dir = ray.direction().vector();
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const Vector_3 diff = vector(ray.source(), pt);
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if(!is_acute_angle(dir, diff, k))
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{
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num = wdot(diff, diff, k);
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den = wmult((K*)0, RT(1), diff.hw(), diff.hw());
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return;
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}
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squared_distance_to_line_RT(dir, diff, num, den, k);
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}
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template <class K>
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typename K::FT
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squared_distance(const typename K::Point_3& pt,
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const typename K::Ray_3& ray,
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const K& k)
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{
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// This duplicates code from the _RT functions, but it is a slowdown to do something like:
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//
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// RT num, den;
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// squared_distance_RT(pt, ray, num, den, k);
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// return Rational_traits<FT>().make_rational(num, den);
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//
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// See https://github.com/CGAL/cgal/pull/5680
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typedef typename K::Vector_3 Vector_3;
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typename K::Construct_vector_3 vector = k.construct_vector_3_object();
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const Vector_3 diff = vector(ray.source(), pt);
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const Vector_3 dir = ray.direction().vector();
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const Vector_3 diff = vector(ray.source(), pt);
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if(!is_acute_angle(dir, diff, k))
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return diff*diff;
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@ -27,74 +27,75 @@ namespace CGAL {
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namespace internal {
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template <class K>
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typename K::FT
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squared_distance(const typename K::Point_3& pt,
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void
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squared_distance_RT(const typename K::Point_3& pt,
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const typename K::Segment_3& seg,
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const K& k,
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const Homogeneous_tag&)
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typename K::RT& num,
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typename K::RT& den,
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const K& k)
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{
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typedef typename K::Vector_3 Vector_3;
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typedef typename K::RT RT;
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typedef typename K::FT FT;
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typedef typename K::Vector_3 Vector_3;
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typename K::Construct_vector_3 vector = k.construct_vector_3_object();
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typename K::Compute_squared_distance_3 sq_dist = k.compute_squared_distance_3_object();
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// assert that the segment is valid (non zero length).
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Vector_3 diff = vector(seg.source(), pt);
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Vector_3 segvec = vector(seg.source(), seg.target());
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const Vector_3 diff_s = vector(seg.source(), pt);
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const Vector_3 segvec = vector(seg.source(), seg.target());
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RT d = wdot(diff,segvec, k);
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const RT d = wdot(diff_s, segvec, k);
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if(d <= RT(0))
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return diff*diff;
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RT e = wdot(segvec,segvec, k);
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if((d * segvec.hw()) > (e * diff.hw()))
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return sq_dist(pt, seg.target());
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{
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// this is squared_distance(pt, seg.source())
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num = wdot(diff_s, diff_s, k);
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den = wmult((K*)0, RT(1), diff_s.hw(), diff_s.hw());
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return;
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}
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Vector_3 wcr = wcross(segvec, diff, k);
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return FT(wcr*wcr) / FT(e * diff.hw() * diff.hw());
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const RT e = wdot(segvec, segvec, k);
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if(wmult((K*)0, d, segvec.hw()) > wmult((K*)0, e, diff_s.hw()))
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{
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// this is squared_distance(pt, seg.target())
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const Vector_3 diff_t = vector(seg.target(), pt);
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num = wdot(diff_t, diff_t, k);
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den = wmult((K*)0, RT(1), diff_t.hw(), diff_t.hw());
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return;
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}
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// This is an expanded call to squared_distance_to_line_RT() to avoid recomputing 'e'
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const Vector_3 wcr = wcross(segvec, diff_s, k);
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num = wdot(wcr, wcr, k);
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den = wmult((K*)0, e, diff_s.hw(), diff_s.hw());
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}
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template <class K>
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typename K::FT
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squared_distance(const typename K::Point_3& pt,
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const typename K::Segment_3& seg,
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const K& k,
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const Cartesian_tag&)
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{
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typedef typename K::Vector_3 Vector_3;
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typedef typename K::RT RT;
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typedef typename K::FT FT;
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typename K::Construct_vector_3 vector = k.construct_vector_3_object();
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typename K::Compute_squared_distance_3 sqd = k.compute_squared_distance_3_object();
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// assert that the segment is valid (non zero length).
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Vector_3 diff = vector(seg.source(), pt);
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Vector_3 segvec = vector(seg.source(), seg.target());
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RT d = wdot(diff,segvec, k);
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if(d <= RT(0))
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return diff*diff;
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RT e = wdot(segvec,segvec, k);
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if(d > e)
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return sqd(pt, seg.target());
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Vector_3 wcr = wcross(segvec, diff, k);
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return FT(wcr*wcr)/e;
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}
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template <class K>
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inline
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typename K::FT
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squared_distance(const typename K::Point_3& pt,
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const typename K::Segment_3& seg,
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const K& k)
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{
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typedef typename K::Kernel_tag Tag;
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Tag tag;
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return squared_distance(pt, seg, k, tag);
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typedef typename K::RT RT;
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typedef typename K::FT FT;
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typedef typename K::Vector_3 Vector_3;
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typename K::Construct_vector_3 vector = k.construct_vector_3_object();
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// assert that the segment is valid (non zero length).
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const Vector_3 diff = vector(seg.source(), pt);
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const Vector_3 segvec = vector(seg.source(), seg.target());
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const RT d = wdot(diff, segvec, k);
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if(d <= RT(0))
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return (FT(diff*diff));
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const RT e = wdot(segvec, segvec, k);
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if(wmult((K*)0, d, segvec.hw()) > wmult((K*)0, e, diff.hw()))
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return squared_distance(pt, seg.target(), k);
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// This is an expanded call to squared_distance_to_line() to avoid recomputing 'e'
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const Vector_3 wcr = wcross(segvec, diff, k);
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return FT(wcr*wcr) / wmult((K*)0, e, diff.hw(), diff.hw());
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}
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template <class K>
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@ -46,6 +46,99 @@ on_left_of_triangle_edge(const typename K::Point_3& pt,
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return (wdot(wcross(edge, normal, k), diff, k) <= RT(0));
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}
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template <class K>
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inline void
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squared_distance_to_triangle_RT(const typename K::Point_3& pt,
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const typename K::Point_3& t0,
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const typename K::Point_3& t1,
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const typename K::Point_3& t2,
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bool& inside,
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typename K::RT& num,
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typename K::RT& den,
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const K& k)
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{
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typedef typename K::Vector_3 Vector_3;
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typename K::Construct_vector_3 vector = k.construct_vector_3_object();
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typename K::Construct_segment_3 segment = k.construct_segment_3_object();
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const Vector_3 e1 = vector(t0, t1);
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const Vector_3 oe3 = vector(t0, t2);
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const Vector_3 normal = wcross(e1, oe3, k);
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if(normal == NULL_VECTOR)
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{
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// The case normal==NULL_VECTOR covers the case when the triangle
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// is colinear, or even more degenerate. In that case, we can
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// simply take also the distance to the three segments.
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squared_distance_RT(pt, segment(t2, t0), num, den, k);
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typename K::RT num2, den2;
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squared_distance_RT(pt, segment(t1, t2), num2, den2, k);
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if(compare_quotients(num2,den2, num,den) == SMALLER)
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{
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num = num2;
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den = den2;
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}
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// Should not be needed since at most 2 edges cover the full triangle in the degenerate case,
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// but leaving it for robustness
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squared_distance_RT(pt, segment(t0, t1), num2, den2, k);
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if(compare_quotients(num2,den2, num,den) == SMALLER)
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{
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num = num2;
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den = den2;
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}
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return;
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}
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const bool b01 = on_left_of_triangle_edge(pt, normal, t0, t1, k);
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if(!b01)
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{
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squared_distance_RT(pt, segment(t0, t1), num, den, k);
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return;
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}
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const bool b12 = on_left_of_triangle_edge(pt, normal, t1, t2, k);
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if(!b12)
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{
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squared_distance_RT(pt, segment(t1, t2), num, den, k);
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return;
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}
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const bool b20 = on_left_of_triangle_edge(pt, normal, t2, t0, k);
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if(!b20)
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{
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squared_distance_RT(pt, segment(t2, t0), num, den, k);
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return;
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}
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// The projection of pt is inside the triangle
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inside = true;
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squared_distance_to_plane_RT(normal, vector(t0, pt), num, den, k);
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}
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template <class K>
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void
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squared_distance_RT(const typename K::Point_3& pt,
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const typename K::Triangle_3& t,
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typename K::RT& num,
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typename K::RT& den,
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const K& k)
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{
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typename K::Construct_vertex_3 vertex;
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bool inside = false;
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squared_distance_to_triangle_RT(pt,
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vertex(t, 0),
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vertex(t, 1),
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vertex(t, 2),
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inside,
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num,
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den,
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k);
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}
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template <class K>
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inline typename K::FT
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squared_distance_to_triangle(const typename K::Point_3& pt,
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@ -74,12 +167,11 @@ squared_distance_to_triangle(const typename K::Point_3& pt,
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// Note that in the degenerate case, at most 2 edges cover the full triangle,
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// and only two distances could be used, but leaving 3 for the case of
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// inexact constructions as it might improve the accuracy.
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typename K::FT d1 = sq_dist(pt, segment(t2, t0));
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typename K::FT d2 = sq_dist(pt, segment(t1, t2));
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typename K::FT d3 = sq_dist(pt, segment(t0, t1));
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return (std::min)( (std::min)(d1, d2), d3);
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return (std::min)((std::min)(d1, d2), d3);
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}
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const bool b01 = on_left_of_triangle_edge(pt, normal, t0, t1, k);
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@ -167,8 +167,8 @@ is_obtuse_angle(const typename K::Point_3 &p,
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}
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template <class K>
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void
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squared_distance_to_plane_RT(const typename K::Vector_3 & normal,
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const typename K::Vector_3 & diff,
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squared_distance_to_plane_RT(const typename K::Vector_3& normal,
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const typename K::Vector_3& diff,
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typename K::RT& num,
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typename K::RT& den,
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const K& k)
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@ -183,8 +183,8 @@ squared_distance_to_plane_RT(const typename K::Vector_3 & normal,
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template <class K>
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typename K::FT
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squared_distance_to_plane(const typename K::Vector_3 & normal,
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const typename K::Vector_3 & diff,
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squared_distance_to_plane(const typename K::Vector_3& normal,
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const typename K::Vector_3& diff,
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const K& k)
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{
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typedef typename K::RT RT;
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@ -196,8 +196,8 @@ squared_distance_to_plane(const typename K::Vector_3 & normal,
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template <class K>
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void
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squared_distance_to_line_RT(const typename K::Vector_3 & dir,
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const typename K::Vector_3 & diff,
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squared_distance_to_line_RT(const typename K::Vector_3& dir,
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const typename K::Vector_3& diff,
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typename K::RT& num,
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typename K::RT& den,
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const K& k)
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@ -207,10 +207,11 @@ squared_distance_to_line_RT(const typename K::Vector_3 & dir,
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num = wdot(wcr, wcr, k);
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den = wmult((K*)0, wdot(dir, dir, k), diff.hw(), diff.hw());
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}
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template <class K>
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typename K::FT
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squared_distance_to_line(const typename K::Vector_3 & dir,
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const typename K::Vector_3 & diff,
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squared_distance_to_line(const typename K::Vector_3& dir,
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const typename K::Vector_3& diff,
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const K& k)
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{
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typedef typename K::RT RT;
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