Implement Sylvain's comments:

+ add missing includes
  + avoid object copies
  + replace CGAL_kernel_assertion(false) by CGAL_error()
  + use is() function of CGAL::Object
  + improve style (remove spaces, white lines...)

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Bbox_3_Bbox_3_do_intersect.h

@@ -26,6 +26,8 @@
 #pragma warning ( disable : 4003 )
 #endif
 
+#include <CGAL/Bbox_3.h>
+
 CGAL_BEGIN_NAMESPACE
 
 bool

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Bbox_3_Line_3_do_intersect.h

@@ -61,7 +61,6 @@ namespace internal {
     }
     FT dmax = dmin;
 
-
     // -----------------------------------
     // treat y coord
     // -----------------------------------
@@ -94,7 +93,6 @@ namespace internal {
       dmax = d_;
     }
 
-    
     // -----------------------------------
     // treat z coord
     // -----------------------------------
@@ -123,8 +121,8 @@ namespace internal {
     typedef typename K::Point_3 Point_3;
     typedef typename K::Vector_3 Vector_3;
 
-    const Point_3 point = line.point();
+    const Point_3& point = line.point();
-    const Vector_3 v = line.to_vector();
+    const Vector_3& v = line.to_vector();
 
     return bbox_line_do_intersect_aux(
                          point.x(), point.y(), point.z(),
@@ -152,5 +150,3 @@ bool do_intersect(const CGAL::Bbox_3& bbox,
 CGAL_END_NAMESPACE
 
 #endif  // CGAL_INTERNAL_INTERSECTIONS_3_BBOX_3_LINE_3_DO_INTERSECT_H
-
-

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Bbox_3_Ray_3_do_intersect.h

@@ -103,7 +103,6 @@ namespace internal {
       dmax = d_;
     }
 
-    
     // -----------------------------------
     // treat z coord
     // -----------------------------------
@@ -131,8 +130,8 @@ namespace internal {
     typedef typename K::FT FT;
     typedef typename K::Point_3 Point_3;
 
-    const Point_3 source = ray.source();
+    const Point_3& source = ray.source();
-    const Point_3 point_on_ray = ray.point(1);
+    const Point_3& point_on_ray = ray.point(1);
 
     return bbox_ray_do_intersect_aux(
                           source.x(), source.y(), source.z(),
@@ -160,5 +159,3 @@ bool do_intersect(const CGAL::Bbox_3& bbox,
 CGAL_END_NAMESPACE
 
 #endif  // CGAL_INTERNAL_INTERSECTIONS_3_BBOX_3_RAY_3_DO_INTERSECT_H
-
-

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Bbox_3_Segment_3_do_intersect.h

@@ -104,7 +104,6 @@ namespace internal {
       dmax = d_;
     }
 
-    
     // -----------------------------------
     // treat z coord
     // -----------------------------------
@@ -132,8 +131,8 @@ namespace internal {
     typedef typename K::FT FT;
     typedef typename K::Point_3 Point_3;
 
-    const Point_3 source = segment.source();
+    const Point_3& source = segment.source();
-    const Point_3 target = segment.target();
+    const Point_3& target = segment.target();
 
     return do_intersect_bbox_segment_aux(
                           source.x(), source.y(), source.z(),

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Bbox_3_Triangle_3_do_intersect.h

@@ -157,7 +157,7 @@ namespace internal {
       case 2:
         return -sides[SIDE].y()*alpha + sides[SIDE].x()*beta;
       default:
-        CGAL_kernel_assertion(false);
+        CGAL_error();
         return typename K::FT(0.);
     }
   }
@@ -221,7 +221,7 @@ namespace internal {
       break;
     default:
       // Should not happen
-      CGAL_kernel_assertion(false);
+      CGAL_error();
       return false;
     }
   }

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Triangle_3_Line_3_intersection.h

@@ -16,12 +16,12 @@
 //
 //
 // Author(s)     : Stéphane Tayeb
-//
 //******************************************************************************
-// File Description :
+// File Description : Implements triangle_3 line_3 intersection construction.
-//
+// This implementation is adapted from Triangle_3_Line_3_do_intersect.h.
 //******************************************************************************
 
+
 #ifndef CGAL_INTERNAL_INTERSECTIONS_3_TRIANGLE_3_LINE_3_INTERSECTION_H
 #define CGAL_INTERNAL_INTERSECTIONS_3_TRIANGLE_3_LINE_3_INTERSECTION_H
 
@@ -59,8 +59,8 @@ t3l3_intersection_coplanar_aux(const typename K::Line_3& l,
   typename K::Compute_squared_length_3 sq_length =
     k.compute_squared_length_3_object();
 
-  const Point_3 p = l.point();
+  const Point_3& p = l.point();
-  const Vector_3 v = l.to_vector();
+  const Vector_3& v = l.to_vector();
   const Vector_3 ab = vector(a,b);
   const Vector_3 pa = vector(p,a);
 
@@ -122,13 +122,11 @@ intersection_coplanar(const typename K::Triangle_3 &t,
                       const typename K::Line_3  &l,
                       const K & k )
 {
-  
   CGAL_kernel_precondition( ! k.is_degenerate_3_object()(t) ) ;
   CGAL_kernel_precondition( ! k.is_degenerate_3_object()(l) ) ;
 
   typedef typename K::Point_3 Point_3;
 
-  
   typename K::Construct_point_on_3 point_on =
     k.construct_point_on_3_object();
 
@@ -144,7 +142,6 @@ intersection_coplanar(const typename K::Triangle_3 &t,
   typename K::Construct_segment_3 segment =
     k.construct_segment_3_object();
 
-  
   const Point_3 & p = point_on(l,0);
   const Point_3 & q = point_on(l,1);
 
@@ -215,7 +212,7 @@ intersection_coplanar(const typename K::Triangle_3 &t,
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -260,7 +257,7 @@ intersection_coplanar(const typename K::Triangle_3 &t,
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -306,20 +303,18 @@ intersection_coplanar(const typename K::Triangle_3 &t,
             case COLLINEAR:
               // case pqc == COLLINEAR is impossible since the triangle is
               // assumed to be non flat
-              CGAL_kernel_assertion(false);
+              CGAL_error();
               return Object();
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
-          
       }
 
     default:// should not happen.
-      CGAL_kernel_assertion(false);
+      CGAL_error();
       return Object();
-      
   }
 }
 
@@ -337,14 +332,13 @@ t3l3_intersection_aux(const typename K::Triangle_3 &t,
   Object obj = intersection(l,t.supporting_plane());
 
   // Intersection should be a point (because of orientation test done before)
-  if ( NULL == object_cast<typename K::Line_3>(&obj) )
+  if ( obj.is<typename K::Line_3>() )
-    return obj;
-  else
     return Object();
+  else
+    return obj;
 }
 
 
-  
 template <class K>
 Object
 intersection(const typename K::Triangle_3 &t,
@@ -377,8 +371,6 @@ intersection(const typename K::Triangle_3 &t,
   const Point_3 & p = point_on(l,0);
   const Point_3 & q = point_on(l,1);
 
-
-  
   if ( ( orientation(a,b,c,p) != COPLANAR )
       || ( orientation(a,b,c,q) != COPLANAR ) )
   {
@@ -415,12 +407,12 @@ intersection(const typename K::Triangle_3 &t,
             return t3l3_intersection_aux(t,l,k);
 
           default: // should not happen.
-            CGAL_kernel_assertion(false);
+            CGAL_error();
             return Object();
         }
 
       default: // should not happen.
-        CGAL_kernel_assertion(false);
+        CGAL_error();
         return Object();
     }
   }

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Triangle_3_Ray_3_intersection.h

@@ -19,7 +19,6 @@
 //
 //******************************************************************************
 // File Description : Implements triangle_3 ray_3 intersection construction.
-//
 // This implementation is adapted from Triangle_3_Ray_3_do_intersect.h.
 //******************************************************************************
 
@@ -111,11 +110,8 @@ t3r3_intersection_coplanar_aux(const typename K::Point_3& a,
   const Point_3& p = point_on(r,0);
 
   // A ray is not symetric, 2 cases depending on isolated side of c
-  Orientation cap;
+  Orientation cap = negative_side ? coplanar_orientation(c,a,p)
-  if ( negative_side )
+                                  : coplanar_orientation(b,c,p);
-    cap = coplanar_orientation(c,a,p);
-  else
-    cap = coplanar_orientation(b,c,p);
 
   switch ( cap ) {
 
@@ -160,20 +156,15 @@ t3r3_intersection_coplanar_aux(const typename K::Point_3& a,
     }
 
     default: // should not happen.
-      CGAL_kernel_assertion(false);
+      CGAL_error();
       return Object();
   }
 
-  CGAL_kernel_assertion(false);
+  CGAL_error();
   return Object();
 }
 
 
-  
-  
-  
-  
-  
 template <class K>
 Object
 intersection_coplanar(const typename K::Triangle_3 &t,
@@ -185,7 +176,6 @@ intersection_coplanar(const typename K::Triangle_3 &t,
 
   typedef typename K::Point_3 Point_3;
 
-  
   typename K::Construct_point_on_3 point_on =
     k.construct_point_on_3_object();
 
@@ -291,7 +281,7 @@ intersection_coplanar(const typename K::Triangle_3 &t,
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -351,7 +341,7 @@ intersection_coplanar(const typename K::Triangle_3 &t,
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -423,25 +413,24 @@ intersection_coplanar(const typename K::Triangle_3 &t,
             case COLLINEAR:
               // case pqc == COLLINEAR is impossible since the triangle is
               // assumed to be non flat
-              CGAL_kernel_assertion(false);
+              CGAL_error();
               return Object();
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
 
       }
 
     default:// should not happen.
-      CGAL_kernel_assertion(false);
+      CGAL_error();
       return Object();
 
   }
 }
 
 
-  
 template <class K>
 inline
 Object
@@ -455,12 +444,13 @@ t3r3_intersection_aux(const typename K::Triangle_3 &t,
   Object obj = intersection(r.supporting_line(),t.supporting_plane());
 
   // Intersection should be a point (because of orientation test done before)
-  if ( NULL == object_cast<typename K::Line_3>(&obj) )
+  if ( obj.is<typename K::Line_3>() )
-    return obj;
-  else
     return Object();
+  else
+    return obj;
 }
 
+
 template <class K>
 Object
 intersection(const typename K::Triangle_3  &t,
@@ -519,7 +509,7 @@ intersection(const typename K::Triangle_3  &t,
           return Object();
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -546,7 +536,7 @@ intersection(const typename K::Triangle_3  &t,
           return Object();
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -575,17 +565,16 @@ intersection(const typename K::Triangle_3  &t,
           return intersection_coplanar(t,r,k);
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
     default: // should not happen.
-      CGAL_kernel_assertion(false);
+      CGAL_error();
       return Object();
-      
   }
 
-  CGAL_kernel_assertion(false);
+  CGAL_error();
   return Object();
 }
 

AABB_tree/include/CGAL/internal/AABB_Intersections_3/Triangle_3_Segment_3_intersection.h

@@ -175,9 +175,9 @@ t3s3_intersection_collinear_aux(const typename K::Point_3& a,
     else
       return make_object(segment(p,q));
   }
-  
 }
 
+
 template <class K>
 Object
 intersection_coplanar(const typename K::Triangle_3 &t,
@@ -285,7 +285,7 @@ intersection_coplanar(const typename K::Triangle_3 &t,
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -334,7 +334,7 @@ intersection_coplanar(const typename K::Triangle_3 &t,
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
 
@@ -384,20 +384,18 @@ intersection_coplanar(const typename K::Triangle_3 &t,
             case COLLINEAR:
               // case pqc == COLLINEAR is impossible since the triangle is
               // assumed to be non flat
-              CGAL_kernel_assertion(false);
+              CGAL_error();
               return Object();
           }
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
-          
       }
 
     default:// should not happen.
-      CGAL_kernel_assertion(false);
+      CGAL_error();
       return Object();
-      
   }
 }
 
@@ -408,13 +406,11 @@ intersection(const typename K::Triangle_3 &t,
              const typename K::Segment_3  &s,
              const K & k)
 {
-  
   CGAL_kernel_precondition( ! k.is_degenerate_3_object()(t) ) ;
   CGAL_kernel_precondition( ! k.is_degenerate_3_object()(s) ) ;
 
   typedef typename K::Point_3 Point_3;
 
-  
   typename K::Construct_point_on_3 point_on =
     k.construct_point_on_3_object();
 
@@ -433,7 +429,6 @@ intersection(const typename K::Triangle_3 &t,
   const Point_3 & p = point_on(s,0);
   const Point_3 & q = point_on(s,1);
 
-  
   const Orientation abcp = orientation(a,b,c,p);
   const Orientation abcq = orientation(a,b,c,q);
 
@@ -453,10 +448,10 @@ intersection(const typename K::Triangle_3 &t,
           {
             // The intersection should be a point
             Object obj = intersection(s.supporting_line(),t.supporting_plane());
-            if ( NULL == object_cast<typename K::Line_3>(&obj) )
+            if ( obj.is<typename K::Line_3>() )
-              return obj;
-            else
               return Object();
+            else
+              return obj;
           }
           else
             return Object();
@@ -472,7 +467,7 @@ intersection(const typename K::Triangle_3 &t,
             return Object();
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
     case NEGATIVE:
@@ -484,10 +479,10 @@ intersection(const typename K::Triangle_3 &t,
             && orientation(q,p,c,a) != POSITIVE )
           {
             Object obj = intersection(s.supporting_line(),t.supporting_plane());
-            if ( NULL == object_cast<typename K::Line_3>(&obj) )
+            if ( obj.is<typename K::Line_3>() )
-              return obj;
-            else
               return Object();
+            else
+              return obj;
           }
           else
             return Object();
@@ -508,7 +503,7 @@ intersection(const typename K::Triangle_3 &t,
             return Object();
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
     case COPLANAR: // p belongs to the triangle's supporting plane
@@ -538,11 +533,11 @@ intersection(const typename K::Triangle_3 &t,
           return intersection_coplanar(t,s,k);
 
         default: // should not happen.
-          CGAL_kernel_assertion(false);
+          CGAL_error();
           return Object();
       }
     default: // should not happen.
-      CGAL_kernel_assertion(false);
+      CGAL_error();
       return Object();
   }
 }
@@ -579,4 +574,3 @@ intersection(const Segment_3<K> &s, const Triangle_3<K> &t)
 } // end namespace CGAL
 
 #endif // CGAL_INTERNAL_INTERSECTIONS_3_TRIANGLE_3_SEGMENT_3_INTERSECTION_H
-

AABB_tree/test/AABB_tree/bbox_other_do_intersect_test.cpp

@@ -25,6 +25,7 @@
 #include <string>
 
 
+#include <CGAL/internal/AABB_Intersections_3/Bbox_3_Bbox_3_do_intersect.h>
 #include <CGAL/internal/AABB_Intersections_3/Bbox_3_Ray_3_do_intersect.h>
 #include <CGAL/internal/AABB_Intersections_3/Bbox_3_Line_3_do_intersect.h>
 #include <CGAL/internal/AABB_Intersections_3/Bbox_3_Segment_3_do_intersect.h>
@@ -272,6 +273,9 @@ bool test()
   test_aux(line3, "line3", bbox3, true);
   test_aux(line4, "line4", bbox4, false);
   
+  // Use do_intersect(bbox,bbox)
+  CGAL::do_intersect(bbox2,bbox4);
+
 	return b;
 }