mirror of https://github.com/CGAL/cgal
* Fix Triangle_3_line_3_intersection.h (implementation inspired from Triangle_3_line_3_do_intersect.h)
* Add test for triangle_3/line_3 intersection (should be enriched maybe) in file aabb_intersection.cpp * Test exact_exact kernel in aabb_do_intersect_test.cpp
This commit is contained in:
Stéphane Tayeb
parent
0fd89aaccf
commit
cfa88ab257
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@ -31,85 +31,371 @@
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namespace CGAL {
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namespace internal {
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template <class K>
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Object
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t3l3_intersection_coplanar_aux(const typename K::Point_3& a,
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const typename K::Point_3& b,
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const typename K::Point_3& c,
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const typename K::Line_3& l,
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const bool negative_side,
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const K& k)
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{
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// This function is designed to clip pq into the triangle abc.
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// Point configuration should be as follows
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//
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// +q
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// | +a
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// |
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// +c | +b
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// |
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// +p
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//
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// We know that c is isolated on the negative side of pq
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typedef typename K::Point_3 Point_3;
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typename K::Intersect_3 intersection =
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k.intersect_3_object();
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typename K::Construct_line_3 line =
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k.construct_line_3_object();
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typename K::Construct_segment_3 segment =
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k.construct_segment_3_object();
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// Let's get the intersection points
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Object l_bc_obj = intersection(l,line(b,c));
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const Point_3* l_bc = object_cast<Point_3>(&l_bc_obj);
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if ( NULL == l_bc )
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{
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CGAL_kernel_assertion(false);
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return Object();
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}
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Object l_ca_obj = intersection(l,line(c,a));
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const Point_3* l_ca = object_cast<Point_3>(&l_ca_obj);
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if ( NULL == l_ca )
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{
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CGAL_kernel_assertion(false);
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return Object();
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}
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if ( negative_side )
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return make_object(segment(*l_bc, *l_ca));
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else
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return make_object(segment(*l_ca, *l_bc));
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}
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template <class K>
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Object
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intersection_coplanar(const typename K::Triangle_3 &t,
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const typename K::Line_3 &l,
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const K & k )
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{
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CGAL_kernel_precondition( ! k.is_degenerate_3_object()(t) ) ;
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CGAL_kernel_precondition( ! k.is_degenerate_3_object()(l) ) ;
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typedef typename K::Point_3 Point_3;
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typename K::Construct_point_on_3 point_on =
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k.construct_point_on_3_object();
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typename K::Construct_vertex_3 vertex_on =
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k.construct_vertex_3_object();
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typename K::Coplanar_orientation_3 coplanar_orientation =
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k.coplanar_orientation_3_object();
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typename K::Construct_line_3 line =
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k.construct_line_3_object();
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typename K::Construct_segment_3 segment =
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k.construct_segment_3_object();
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const Point_3 & p = point_on(l,0);
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const Point_3 & q = point_on(l,1);
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const Point_3 & A = vertex_on(t,0);
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const Point_3 & B = vertex_on(t,1);
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const Point_3 & C = vertex_on(t,2);
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int k0 = 0;
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int k1 = 1;
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int k2 = 2;
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// Determine the orientation of the triangle in the common plane
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if (coplanar_orientation(A,B,C) != POSITIVE)
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{
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// The triangle is not counterclockwise oriented
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// swap two vertices.
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std::swap(k1,k2);
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}
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const Point_3& a = vertex_on(t,k0);
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const Point_3& b = vertex_on(t,k1);
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const Point_3& c = vertex_on(t,k2);
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// Test whether the segment's supporting line intersects the
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// triangle in the common plane
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const Orientation pqa = coplanar_orientation(p,q,a);
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const Orientation pqb = coplanar_orientation(p,q,b);
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const Orientation pqc = coplanar_orientation(p,q,c);
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switch ( pqa ) {
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// -----------------------------------
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// pqa POSITIVE
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// -----------------------------------
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case POSITIVE:
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switch ( pqb ) {
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case POSITIVE:
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switch ( pqc ) {
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case POSITIVE:
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// the triangle lies in the positive halfspace
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// defined by the segment's supporting line.
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return Object();
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case NEGATIVE:
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// c is isolated on the negative side
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return t3l3_intersection_coplanar_aux(a,b,c,l,true,k);
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case COLLINEAR:
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return make_object(c);
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}
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case NEGATIVE:
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if ( POSITIVE == pqc )
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// b is isolated on the negative side
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return t3l3_intersection_coplanar_aux(c,a,b,l,true,k);
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else
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// a is isolated on the positive side (here mb c could be use as
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// an endpoint instead of computing an intersection is some cases)
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return t3l3_intersection_coplanar_aux(b,c,a,l,false,k);
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case COLLINEAR:
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switch ( pqc ) {
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case POSITIVE:
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return make_object(b);
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case NEGATIVE:
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// a is isolated on the positive side (here mb b could be use as
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// an endpoint instead of computing an intersection)
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return t3l3_intersection_coplanar_aux(b,c,a,l,false,k);
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case COLLINEAR:
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// b,c,p,q are aligned, [p,q]&[b,c] have the same direction
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return make_object(segment(b,c));
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}
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default: // should not happen.
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CGAL_kernel_assertion(false);
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return Object();
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}
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// -----------------------------------
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// pqa NEGATIVE
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// -----------------------------------
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case NEGATIVE:
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switch ( pqb ) {
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case POSITIVE:
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if ( POSITIVE == pqc )
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// a is isolated on the negative side
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return t3l3_intersection_coplanar_aux(b,c,a,l,true,k);
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else
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// b is isolated on the positive side (here mb c could be use as
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// an endpoint instead of computing an intersection, in some cases)
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return t3l3_intersection_coplanar_aux(c,a,b,l,false,k);
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case NEGATIVE:
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switch ( pqc ) {
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case POSITIVE:
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// c is isolated on the positive side
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return t3l3_intersection_coplanar_aux(a,b,c,l,false,k);
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case NEGATIVE:
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// the triangle lies in the negative halfspace
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// defined by the segment's supporting line.
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return Object();
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case COLLINEAR:
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return make_object(c);
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}
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case COLLINEAR:
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switch ( pqc ) {
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case POSITIVE:
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// a is isolated on the negative side (here mb b could be use as
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// an endpoint instead of computing an intersection)
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return t3l3_intersection_coplanar_aux(b,c,a,l,true,k);
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case NEGATIVE:
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return make_object(b);
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case COLLINEAR:
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// b,c,p,q are aligned, [p,q]&[c,b] have the same direction
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return make_object(segment(c,b));
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}
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default: // should not happen.
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CGAL_kernel_assertion(false);
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return Object();
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}
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// -----------------------------------
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// pqa COLLINEAR
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// -----------------------------------
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case COLLINEAR:
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switch ( pqb ) {
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case POSITIVE:
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switch ( pqc ) {
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case POSITIVE:
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return make_object(a);
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case NEGATIVE:
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// b is isolated on the positive side (here mb a could be use as
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// an endpoint instead of computing an intersection)
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return t3l3_intersection_coplanar_aux(c,a,b,l,false,k);
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case COLLINEAR:
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// a,c,p,q are aligned, [p,q]&[c,a] have the same direction
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return make_object(segment(c,a));
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}
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case NEGATIVE:
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switch ( pqc ) {
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case POSITIVE:
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// b is isolated on the negative side (here mb a could be use as
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// an endpoint instead of computing an intersection)
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return t3l3_intersection_coplanar_aux(c,a,b,l,true,k);
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case NEGATIVE:
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return make_object(a);
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case COLLINEAR:
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// a,c,p,q are aligned, [p,q]&[a,c] have the same direction
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return make_object(segment(a,c));
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}
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case COLLINEAR:
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switch ( pqc ) {
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case POSITIVE:
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// a,b,p,q are aligned, [p,q]&[a,b] have the same direction
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return make_object(segment(a,b));
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case NEGATIVE:
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// a,b,p,q are aligned, [p,q]&[b,a] have the same direction
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return make_object(segment(b,a));
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case COLLINEAR:
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// case pqc == COLLINEAR is impossible since the triangle is
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// assumed to be non flat
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CGAL_kernel_assertion(false);
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return Object();
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}
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default: // should not happen.
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CGAL_kernel_assertion(false);
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return Object();
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}
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default:// should not happen.
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CGAL_kernel_assertion(false);
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return Object();
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}
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}
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template <class K>
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Object
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intersection(const typename K::Triangle_3 &t,
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const typename K::Line_3 &l,
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const K& k)
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{
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CGAL_kernel_precondition( ! k.is_degenerate_3_object()(t) ) ;
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CGAL_kernel_precondition( ! k.is_degenerate_3_object()(l) ) ;
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typedef typename K::Point_3 Point_3;
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typedef typename K::Segment_3 Segment_3;
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typedef typename K::Object_3 Object_3;
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typedef typename K::Line_3 Line_3;
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if ( !CGAL::do_intersect(t, l) )
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return Object_3();
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// TOFIX: here we assume that we have already tested
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// do_intersect between the triangle and the line
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const Object intersection = CGAL::intersection(t.supporting_plane(),
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l);
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// intersection is either a point, either a line
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// if it is a line, then we need to clip it to a segment
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if ( const Line_3* line = object_cast<Line_3>(&intersection))
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typename K::Construct_point_on_3 point_on =
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k.construct_point_on_3_object();
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typename K::Construct_vertex_3 vertex_on =
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k.construct_vertex_3_object();
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typename K::Orientation_3 orientation =
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k.orientation_3_object();
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typename K::Coplanar_orientation_3 coplanar_orientation =
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k.coplanar_orientation_3_object();
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typename K::Intersect_3 intersection =
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k.intersect_3_object();
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const Point_3 & a = vertex_on(t,0);
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const Point_3 & b = vertex_on(t,1);
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const Point_3 & c = vertex_on(t,2);
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const Point_3 & p = point_on(l,0);
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const Point_3 & q = point_on(l,1);
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if ( ( orientation(a,b,c,p) != COPLANAR )
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|| ( orientation(a,b,c,q) != COPLANAR ) )
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{
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typename K::Intersect_3 intersect = k.intersect_3_object();
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typename K::Construct_line_3 f_line = k.construct_line_3_object();
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typename K::Construct_vertex_3 vertex_on = k.construct_vertex_3_object();
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typename K::Construct_object_3 make_object = k.construct_object_3_object();
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typename K::Construct_segment_3 f_segment = k.construct_segment_3_object();
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typename K::Has_on_3 has_on = k.has_on_3_object();
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const Point_3& t0 = vertex_on(t,0);
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const Point_3& t1 = vertex_on(t,1);
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const Point_3& t2 = vertex_on(t,2);
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const Line_3 l01 = f_line(t0,t1);
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const Line_3 l02 = f_line(t0,t2);
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const Line_3 l12 = f_line(t1,t2);
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const Segment_3 s01 = f_segment(t0,t1);
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const Segment_3 s02 = f_segment(t0,t2);
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const Segment_3 s12 = f_segment(t1,t2);
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const Object_3 inter_01 = intersect(l01,*line);
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const Object_3 inter_02 = intersect(l02,*line);
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const Object_3 inter_12 = intersect(l12,*line);
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const Point_3* p01 = object_cast<Point_3>(&inter_01);
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const Point_3* p02 = object_cast<Point_3>(&inter_02);
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const Point_3* p12 = object_cast<Point_3>(&inter_12);
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if ( p01 && has_on(s01, *p01) )
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{
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if ( p02 && has_on(s02, *p02) )
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return make_object(f_segment(*p01,*p02));
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else if ( p12 && has_on(s12, *p12) )
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return make_object(f_segment(*p01,*p12));
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else
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return make_object(*p01);
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const Orientation pqab = orientation(p,q,a,b);
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const Orientation pqbc = orientation(p,q,b,c);
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switch ( pqab ) {
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case POSITIVE:
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if ( pqbc != NEGATIVE && orientation(p,q,c,a) != NEGATIVE )
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return intersection(l,t.supporting_plane());
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else
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return Object();
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case NEGATIVE:
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if ( pqbc != POSITIVE && orientation(p,q,c,a) != POSITIVE )
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return intersection(l,t.supporting_plane());
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else
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return Object();
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case COPLANAR:
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switch ( pqbc ) {
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case POSITIVE:
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if ( orientation(p,q,c,a) != NEGATIVE )
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return intersection(l,t.supporting_plane());
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else
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return Object();
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case NEGATIVE:
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if ( orientation(p,q,c,a) != POSITIVE )
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return intersection(l,t.supporting_plane());
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else
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return Object();
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case COPLANAR: // pqa or pqb or pqc are collinear
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return intersection(l,t.supporting_plane());
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default: // should not happen.
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CGAL_kernel_assertion(false);
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return Object();
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}
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default: // should not happen.
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CGAL_kernel_assertion(false);
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return Object();
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}
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else if ( p02 && has_on(s02, *p02) )
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{
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if ( p12 && has_on(s12, *p12) )
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return make_object(f_segment(*p02,*p12));
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else
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return make_object(*p02);
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}
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else if ( p12 && has_on(s12, *p12) )
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{
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return make_object(*p12);
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}
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// should not happen
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CGAL_kernel_assertion(false);
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return Object_3();
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}
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else
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return intersection;
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// Coplanar case
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return intersection_coplanar(t,l,k);
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}
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template <class K>
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Object
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intersection(const typename K::Line_3 &l,
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const typename K::Triangle_3 &t,
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const K& k)
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{
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return internal::intersection(t,l,k);
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}
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} // end namespace internal
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template <class K>
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@ -174,9 +174,6 @@ intersection_coplanar(const typename K::Triangle_3 &t,
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typename K::Collinear_are_ordered_along_line_3 collinear_ordered =
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k.collinear_are_ordered_along_line_3_object();
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typename K::Intersect_3 intersection =
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k.intersect_3_object();
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typename K::Construct_line_3 line =
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k.construct_line_3_object();
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@ -28,6 +28,7 @@
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#include <CGAL/Cartesian.h>
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#include <CGAL/Simple_cartesian.h>
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#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
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#include <CGAL/Exact_predicates_exact_constructions_kernel.h>
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template <class T>
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@ -175,6 +176,9 @@ int main()
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std::cout << "Testing with Exact_predicates_inexact_constructions_kernel..." << std::endl ;
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b &= test<CGAL::Exact_predicates_inexact_constructions_kernel>();
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std::cout << "Testing with Exact_predicates_exact_constructions_kernel..." << std::endl ;
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b &= test<CGAL::Exact_predicates_exact_constructions_kernel>();
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if ( b )
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return EXIT_SUCCESS;
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@ -77,7 +77,7 @@ bool test()
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// +E +1
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// / \
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// +C 6+ +8 +4 +B
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// / +7 \
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// / 9++7 \
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// 3+-------+5--+2
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//
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// +F +A
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@ -91,10 +91,14 @@ bool test()
|
|||
|
||||
// Edges of t
|
||||
Segment s12(p1,p2);
|
||||
Segment s21(p2,p1);
|
||||
Segment s13(p1,p3);
|
||||
Segment s23(p2,p3);
|
||||
Segment s32(p3,p2);
|
||||
Segment s31(p3,p1);
|
||||
|
||||
bool b = test_aux(t,s12,"t-s12",s12);
|
||||
b &= test_aux(t,s21,"t-s21",s21);
|
||||
b &= test_aux(t,s13,"t-s13",s13);
|
||||
b &= test_aux(t,s23,"t-s23",s23);
|
||||
|
||||
|
|
@ -121,6 +125,8 @@ bool test()
|
|||
Segment s46(p4,p6);
|
||||
Segment s48(p4,p8);
|
||||
Segment s56(p5,p6);
|
||||
Segment s65(p6,p5);
|
||||
Segment s64(p6,p4);
|
||||
Segment s17(p1,p7);
|
||||
Segment s67(p6,p7);
|
||||
Segment s68(p6,p8);
|
||||
|
|
@ -142,6 +148,8 @@ bool test()
|
|||
b &= test_aux(t,s26,"t-s26",s26);
|
||||
b &= test_aux(t,s62,"t-s62",s62);
|
||||
b &= test_aux(t,s46,"t-s46",s46);
|
||||
b &= test_aux(t,s65,"t-s65",s65);
|
||||
b &= test_aux(t,s64,"t-s64",s64);
|
||||
b &= test_aux(t,s48,"t-s48",s48);
|
||||
b &= test_aux(t,s56,"t-s56",s56);
|
||||
b &= test_aux(t,s17,"t-t17",s17);
|
||||
|
|
@ -200,6 +208,108 @@ bool test()
|
|||
b &= test_aux(t,sa8,"t-sa8",p8);
|
||||
b &= test_aux(t,sb2,"t-sb2",p2);
|
||||
|
||||
|
||||
// -----------------------------------
|
||||
// Line queries
|
||||
// -----------------------------------
|
||||
// Edges of t
|
||||
Line l12(p1,p2);
|
||||
Line l21(p2,p1);
|
||||
Line l13(p1,p3);
|
||||
Line l23(p2,p3);
|
||||
|
||||
b &= test_aux(t,l12,"t-l12",s12);
|
||||
b &= test_aux(t,l21,"t-l21",s21);
|
||||
b &= test_aux(t,l13,"t-l13",s13);
|
||||
b &= test_aux(t,l23,"t-l23",s23);
|
||||
|
||||
// In triangle
|
||||
Point p9_(FT(0.), FT(0.5), FT(0.5));
|
||||
Point p9(FT(0.25), FT(0.375), FT(0.375));
|
||||
|
||||
Line l14(p1,p4);
|
||||
Line l41(p4,p1);
|
||||
Line l24(p2,p4);
|
||||
Line l42(p4,p2);
|
||||
Line l15(p1,p5);
|
||||
Line l25(p2,p5);
|
||||
Line l34(p3,p4);
|
||||
Line l35(p3,p5);
|
||||
Line l36(p3,p6);
|
||||
Line l45(p4,p5);
|
||||
Line l16(p1,p6);
|
||||
Line l26(p2,p6);
|
||||
Line l62(p6,p2);
|
||||
Line l46(p4,p6);
|
||||
Line l48(p4,p8);
|
||||
Line l56(p5,p6);
|
||||
Line l47(p4,p7);
|
||||
Line l89(p8,p9);
|
||||
Line l86(p8,p6);
|
||||
Line l68(p6,p8);
|
||||
Segment s89_res(p1,p9_);
|
||||
|
||||
b &= test_aux(t,l14,"t-l14",s12);
|
||||
b &= test_aux(t,l41,"t-l41",s21);
|
||||
b &= test_aux(t,l24,"t-l24",s21);
|
||||
b &= test_aux(t,l42,"t-l42",s12);
|
||||
b &= test_aux(t,l15,"t-l15",s15);
|
||||
b &= test_aux(t,l25,"t-l25",s23);
|
||||
b &= test_aux(t,l34,"t-l34",s34);
|
||||
b &= test_aux(t,l35,"t-l35",s32);
|
||||
b &= test_aux(t,l36,"t-l36",s31);
|
||||
b &= test_aux(t,l45,"t-l45",s45);
|
||||
b &= test_aux(t,l16,"t-l16",s13);
|
||||
b &= test_aux(t,l26,"t-l26",s26);
|
||||
b &= test_aux(t,l62,"t-l62",s62);
|
||||
b &= test_aux(t,l46,"t-l46",s46);
|
||||
b &= test_aux(t,l48,"t-l48",s46);
|
||||
b &= test_aux(t,l56,"t-l56",s56);
|
||||
b &= test_aux(t,l47,"t-l47",s45);
|
||||
b &= test_aux(t,l89,"t-t89",s89_res);
|
||||
b &= test_aux(t,l68,"t-l68",s64);
|
||||
b &= test_aux(t,l86,"t-l86",s46);
|
||||
|
||||
|
||||
// Outside points (in triangle plane)
|
||||
Line lAB(pA,pB);
|
||||
Line lBC(pB,pC);
|
||||
Line l2E(p2,pE);
|
||||
Line lE2(pE,p2);
|
||||
Line l2A(p2,pA);
|
||||
Line l6E(p6,pE);
|
||||
Line lB8(pB,p8);
|
||||
Line lC8(pC,p8);
|
||||
Line l8C(p8,pC);
|
||||
Line l1F(p1,pF);
|
||||
Line lF6(pF,p6);
|
||||
|
||||
b &= test_aux(t,lAB,"t-lAB",p2);
|
||||
b &= test_aux(t,lBC,"t-lBC",s46);
|
||||
b &= test_aux(t,l2E,"t-l2E",s26);
|
||||
b &= test_aux(t,lE2,"t-lE2",s62);
|
||||
b &= test_aux(t,l2A,"t-l2A",p2);
|
||||
b &= test_aux(t,l6E,"t-l6E",s26);
|
||||
b &= test_aux(t,lB8,"t-lB8",s46);
|
||||
b &= test_aux(t,lC8,"t-lC8",s64);
|
||||
b &= test_aux(t,l8C,"t-l8C",s46);
|
||||
b &= test_aux(t,l1F,"t-l1F",s13);
|
||||
b &= test_aux(t,lF6,"t-lF6",s31);
|
||||
|
||||
// Outside triangle plane
|
||||
Line lab(pa,pb);
|
||||
Line lac(pa,pc);
|
||||
Line lae(pa,pe);
|
||||
Line la8(pa,p8);
|
||||
Line lb2(pb,p2);
|
||||
|
||||
b &= test_aux(t,lab,"t-lab",p1);
|
||||
b &= test_aux(t,lac,"t-lac",p6);
|
||||
b &= test_aux(t,lae,"t-lae",p8);
|
||||
b &= test_aux(t,la8,"t-la8",p8);
|
||||
b &= test_aux(t,lb2,"t-lb2",p2);
|
||||
|
||||
|
||||
return b;
|
||||
}
|
||||
|
||||
|
|
|
|||
Loading…
Reference in New Issue