mirror of https://github.com/CGAL/cgal
605 lines
23 KiB
C++
605 lines
23 KiB
C++
// Copyright (c) 2019 GeometryFactory Sarl (France).
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// All rights reserved.
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//
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// This file is part of CGAL (www.cgal.org).
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//
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// $URL$
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// $Id$
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial
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//
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//
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// Author(s) : Simon Giraudot
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#ifndef CGAL_KSP_2_DATA_STRUCTURE_H
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#define CGAL_KSP_2_DATA_STRUCTURE_H
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//#include <CGAL/license/Kinetic_shape_reconstruction.h>
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#include <CGAL/KSP/utils.h>
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#include <CGAL/KSP_2/Support_line.h>
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#include <CGAL/KSP_2/Segment.h>
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#include <CGAL/KSP_2/Vertex.h>
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#include <CGAL/KSP_2/Meta_vertex.h>
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namespace CGAL
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{
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namespace KSP_2
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{
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template <typename GeomTraits>
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class Data_structure
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{
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public:
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typedef GeomTraits Kernel;
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typedef typename Kernel::FT FT;
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typedef typename Kernel::Point_2 Point_2;
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typedef typename Kernel::Vector_2 Vector_2;
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typedef typename Kernel::Ray_2 Ray_2;
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typedef typename Kernel::Line_2 Line_2;
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typedef typename Kernel::Segment_2 Segment_2;
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typedef KSP_2::Support_line<Kernel> Support_line;
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typedef KSP_2::Segment Segment;
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typedef KSP_2::Vertex<FT> Vertex;
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typedef KSP_2::Meta_vertex<Point_2> Meta_vertex;
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typedef std::vector<Support_line> Support_lines;
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typedef std::vector<Segment> Segments;
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typedef std::vector<Vertex> Vertices;
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typedef std::vector<Meta_vertex> Meta_vertices;
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private:
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// Main data structure
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Support_lines m_support_lines;
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Segments m_segments;
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Vertices m_vertices;
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Meta_vertices m_meta_vertices;
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// Helping data structures
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std::map<Point_2, std::size_t> m_meta_map;
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FT m_current_time;
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public:
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Data_structure()
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: m_current_time(0)
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{ }
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void print() const
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{
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for (std::size_t i = 0; i < m_support_lines.size(); ++ i)
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{
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std::cerr << "* Support_line[" << i << "]" << std::endl;
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for (std::size_t segment_idx : m_support_lines[i].segments_idx())
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{
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std::cerr << "** Segment[" << segment_idx << "]" << std::endl;
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std::cerr << "*** Vertex[" << segment(segment_idx).source_idx() << "]" << std::endl;
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std::cerr << "*** Vertex[" << segment(segment_idx).target_idx() << "]" << std::endl;
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}
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}
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}
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const FT& current_time() const { return m_current_time; }
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std::size_t number_of_vertices() const { return m_vertices.size(); }
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const Vertex& vertex (std::size_t idx) const { return m_vertices[idx]; }
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Vertex& vertex (std::size_t idx) { return m_vertices[idx]; }
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std::size_t number_of_segments() const { return m_segments.size(); }
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const Segment& segment (std::size_t idx) const { return m_segments[idx]; }
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Segment& segment (std::size_t idx) { return m_segments[idx]; }
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std::size_t number_of_support_lines() const { return m_support_lines.size(); }
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const Support_line& support_line (std::size_t idx) const { return m_support_lines[idx]; }
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Support_line& support_line (std::size_t idx) { return m_support_lines[idx]; }
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std::size_t number_of_meta_vertices() const { return m_meta_vertices.size(); }
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const Meta_vertex& meta_vertex (std::size_t idx) const { return m_meta_vertices[idx]; }
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Meta_vertex& meta_vertex (std::size_t idx) { return m_meta_vertices[idx]; }
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std::string segment_str (std::size_t segment_idx) const
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{
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return "Segment[" + std::to_string(segment_idx)
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+ " from " + (segment(segment_idx).input_idx() == KSP::no_element() ?
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"bbox" : std::to_string(segment(segment_idx).input_idx()))
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+ "](v" + std::to_string(segment(segment_idx).source_idx())
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+ "->v" + std::to_string(segment(segment_idx).target_idx())
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+ ")";
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}
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std::string vertex_str (std::size_t vertex_idx) const
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{
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return "Vertex[" + std::to_string(vertex_idx) + "]";
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}
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// Vertex/idx -> Point_2
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inline Point_2 point_of_vertex (const Vertex& vertex, FT time) const
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{ return support_line_of_vertex(vertex).to_2d(vertex.point(time)); }
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inline Point_2 point_of_vertex (std::size_t vertex_idx, FT time) const
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{ return point_of_vertex (m_vertices[vertex_idx], time); }
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inline Point_2 point_of_vertex (const Vertex& vertex) const
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{ return point_of_vertex (vertex, m_current_time); }
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inline Point_2 point_of_vertex (std::size_t vertex_idx) const
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{ return point_of_vertex (vertex_idx, m_current_time); }
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// Vertex/idx -> Vector_2
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inline Vector_2 direction_of_vertex (const Vertex& vertex) const
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{ return Vector_2 (support_line_of_vertex(vertex).to_2d(vertex.point(m_current_time)),
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support_line_of_vertex(vertex).to_2d(vertex.point(m_current_time) + vertex.direction())); }
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inline Vector_2 direction_of_vertex (std::size_t vertex_idx) const
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{ return direction_of_vertex (m_vertices[vertex_idx]); }
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// Vertex/idx -> Segment
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inline const Segment& segment_of_vertex (const Vertex& vertex) const
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{ return m_segments[vertex.segment_idx()]; }
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inline Segment& segment_of_vertex(const Vertex& vertex)
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{ return m_segments[vertex.segment_idx()]; }
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inline const Segment& segment_of_vertex (std::size_t vertex_idx) const
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{ return segment_of_vertex(m_vertices[vertex_idx]); }
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inline Segment& segment_of_vertex (std::size_t vertex_idx)
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{ return segment_of_vertex(m_vertices[vertex_idx]); }
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// Segment/idx -> source Vertex
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inline const Vertex& source_of_segment (const Segment& segment) const
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{ return m_vertices[segment.source_idx()]; }
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inline Vertex& source_of_segment (const Segment& segment)
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{ return m_vertices[segment.source_idx()]; }
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inline const Vertex& source_of_segment (std::size_t segment_idx) const
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{ return source_of_segment(m_segments[segment_idx]); }
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inline Vertex& source_of_segment (std::size_t segment_idx)
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{ return source_of_segment(m_segments[segment_idx]); }
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// Segment/idx -> target Vertex
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inline const Vertex& target_of_segment (const Segment& segment) const
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{ return m_vertices[segment.target_idx()]; }
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inline Vertex& target_of_segment (const Segment& segment)
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{ return m_vertices[segment.target_idx()]; }
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inline const Vertex& target_of_segment (std::size_t segment_idx) const
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{ return target_of_segment(m_segments[segment_idx]); }
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inline Vertex& target_of_segment (std::size_t segment_idx)
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{ return target_of_segment(m_segments[segment_idx]); }
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// idx -> opposite Vertex
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inline const Vertex& opposite_vertex (std::size_t vertex_idx) const
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{
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const Segment& segment = segment_of_vertex(vertex_idx);
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CGAL_assertion (segment.source_idx() == vertex_idx
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|| segment.target_idx() == vertex_idx);
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return (segment.source_idx() == vertex_idx ?
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m_vertices[segment.target_idx()] :
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m_vertices[segment.source_idx()]);
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}
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// Segment/idx -> Support_line
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inline const Support_line& support_line_of_segment (const Segment& segment) const
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{ return m_support_lines[segment.support_line_idx()]; }
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inline Support_line& support_line_of_segment (const Segment& segment)
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{ return m_support_lines[segment.support_line_idx()]; }
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inline const Support_line& support_line_of_segment (std::size_t segment_idx) const
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{ return support_line_of_segment(m_segments[segment_idx]); }
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inline Support_line& support_line_of_segment (std::size_t segment_idx)
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{ return support_line_of_segment(m_segments[segment_idx]); }
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// Vertex/idx -> Support_line
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inline const Support_line& support_line_of_vertex (const Vertex& vertex) const
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{ return support_line_of_segment(vertex.segment_idx()); }
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inline Support_line& support_line_of_vertex (const Vertex& vertex)
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{ return support_line_of_segment(vertex.segment_idx()); }
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inline const Support_line& support_line_of_vertex (std::size_t vertex_idx) const
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{ return support_line_of_vertex(m_vertices[vertex_idx]); }
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inline Support_line& support_line_of_vertex (std::size_t vertex_idx)
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{ return support_line_of_vertex(m_vertices[vertex_idx]); }
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// Vertex/idx -> Meta_vertex
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inline const Meta_vertex& meta_vertex_of_vertex (const Vertex& vertex) const
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{ return m_meta_vertices[vertex.meta_vertex_idx()]; }
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inline Meta_vertex& meta_vertex_of_vertex (const Vertex& vertex)
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{ return m_meta_vertices[vertex.meta_vertex_idx()]; }
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inline const Meta_vertex& meta_vertex_of_vertex (std::size_t vertex_idx) const
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{ return meta_vertex_of_vertex(m_vertices[vertex_idx]); }
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inline Meta_vertex& meta_vertex_of_vertex (std::size_t vertex_idx)
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{ return meta_vertex_of_vertex(m_vertices[vertex_idx]); }
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bool has_meta_vertex (const Vertex& vertex) const
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{ return vertex.meta_vertex_idx() != KSP::no_element(); }
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bool has_meta_vertex (std::size_t vertex_idx) const
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{ return has_meta_vertex (m_vertices[vertex_idx]); }
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FT position_of_meta_vertex_on_support_line (std::size_t meta_vertex_idx, std::size_t support_line_idx) const
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{ return support_line(support_line_idx).to_1d(meta_vertex(meta_vertex_idx).point()); }
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inline bool meta_vertex_exists (const Point_2& point) const
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{ return m_meta_map.find(point) != m_meta_map.end(); }
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void get_vertices_of_meta_vertex (std::size_t meta_vertex_idx,
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std::vector<std::size_t>& vertices_idx) const
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{
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const Meta_vertex& meta_vertex = m_meta_vertices[meta_vertex_idx];
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for (std::size_t support_line_idx : meta_vertex.support_lines_idx())
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{
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const Support_line& support_line = m_support_lines[support_line_idx];
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for (std::size_t segment_idx : support_line.segments_idx())
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{
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const Segment& segment = m_segments[segment_idx];
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for (std::size_t vertex_idx : { segment.source_idx() , segment.target_idx() })
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if (m_vertices[vertex_idx].meta_vertex_idx() == meta_vertex_idx)
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vertices_idx.push_back (vertex_idx);
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}
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}
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}
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inline CGAL::Bbox_2 bbox (const Vertex& vertex) const
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{
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return point_of_vertex(vertex).bbox();
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}
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inline CGAL::Bbox_2 bbox (const Support_line& support_line) const
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{
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return std::accumulate (support_line.segments_idx().begin(), support_line.segments_idx().end(),
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CGAL::Bbox_2(),
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[&](const CGAL::Bbox_2& bbox_2, const std::size_t& segment_idx) -> CGAL::Bbox_2
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{
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return bbox_2
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+ bbox(source_of_segment(segment_idx))
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+ bbox(target_of_segment(segment_idx));
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});
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}
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bool is_segment_frozen (std::size_t segment_idx) const
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{ return (source_of_segment(segment_idx).is_frozen() && target_of_segment(segment_idx).is_frozen()); }
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// idx -> Segment_2
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Segment_2 segment_2 (std::size_t segment_idx) const
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{
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const Segment& segment = m_segments[segment_idx];
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const Support_line& support_line = m_support_lines[segment.support_line_idx()];
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const Vertex& source = m_vertices[segment.source_idx()];
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const Vertex& target = m_vertices[segment.target_idx()];
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return Segment_2 (support_line.to_2d(source.point(m_current_time)), support_line.to_2d(target.point(m_current_time)));
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}
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bool is_bbox_support_line (std::size_t support_line_idx) const
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{
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return support_line_idx < 4;
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}
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bool is_bbox_segment (std::size_t segment_idx) const
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{
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return is_bbox_support_line(segment(segment_idx).support_line_idx());
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}
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bool is_bbox_meta_vertex (std::size_t meta_vertex_idx) const
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{
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for (std::size_t support_line_idx : meta_vertex(meta_vertex_idx).support_lines_idx())
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if (is_bbox_support_line(support_line_idx))
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return true;
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return false;
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}
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bool is_bbox_meta_edge (std::size_t source_idx, std::size_t target_idx) const
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{
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std::size_t common_line_idx = KSP::no_element();
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for (std::size_t support_line_idx : meta_vertex(source_idx).support_lines_idx())
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if (m_meta_vertices[target_idx].support_lines_idx().find(support_line_idx)
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!= m_meta_vertices[target_idx].support_lines_idx().end())
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{
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common_line_idx = support_line_idx;
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break;
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}
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CGAL_assertion (common_line_idx != KSP::no_element());
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return is_bbox_support_line (common_line_idx);
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}
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bool is_meta_vertex_active (std::size_t meta_vertex_idx) const
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{
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for (std::size_t support_line_idx : meta_vertex(meta_vertex_idx).support_lines_idx())
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for (std::size_t segment_idx : support_line(support_line_idx).segments_idx())
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for (std::size_t vertex_idx : { segment(segment_idx).source_idx(), segment(segment_idx).target_idx() })
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if (vertex(vertex_idx).meta_vertex_idx() == meta_vertex_idx)
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return true;
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return false;
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}
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bool is_meta_vertex_intersection (std::size_t meta_vertex_idx) const
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{
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bool found_one = false;
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for (std::size_t support_line_idx : meta_vertex(meta_vertex_idx).support_lines_idx())
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{
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bool broken = false;
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for (std::size_t segment_idx : support_line(support_line_idx).segments_idx())
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{
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for (std::size_t vertex_idx : { segment(segment_idx).source_idx(), segment(segment_idx).target_idx() })
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{
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if (vertex(vertex_idx).meta_vertex_idx() == meta_vertex_idx)
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{
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if (found_one)
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return true;
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found_one = true;
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broken = true;
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break;
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}
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}
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if (broken)
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break;
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}
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}
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return false;
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}
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bool is_meta_vertex_deadend_of_vertex (std::size_t meta_vertex_idx, std::size_t vertex_idx) const
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{
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return meta_vertex(meta_vertex_idx).is_deadend_of (segment_of_vertex(vertex_idx).support_line_idx());
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}
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void make_meta_vertex_deadend_of_vertex (std::size_t meta_vertex_idx, std::size_t vertex_idx)
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{
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meta_vertex(meta_vertex_idx).make_deadend_of (segment_of_vertex(vertex_idx).support_line_idx());
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}
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void make_meta_vertex_no_longer_deadend_of_vertex (std::size_t meta_vertex_idx, std::size_t vertex_idx)
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{
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meta_vertex(meta_vertex_idx).make_no_longer_deadend_of (segment_of_vertex(vertex_idx).support_line_idx());
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}
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std::size_t add_support_line (const Segment_2& segment)
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{
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m_support_lines.push_back (Support_line(segment));
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return std::size_t(m_support_lines.size() - 1);
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}
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Segment& add_segment (const Segment_2 segment, std::size_t input_idx = KSP::no_element())
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{
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// Check if support line exists first
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Support_line new_support_line (segment);
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std::size_t support_line_idx = KSP::no_element();
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for (std::size_t i = 0; i < number_of_support_lines(); ++ i)
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if (new_support_line == support_line(i))
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{
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support_line_idx = i;
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break;
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}
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if (support_line_idx == KSP::no_element())
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{
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support_line_idx = number_of_support_lines();
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m_support_lines.push_back (new_support_line);
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if (input_idx == KSP::no_element())
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{
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m_support_lines.back().minimum() = m_support_lines.back().to_1d (segment.source());
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m_support_lines.back().maximum() = m_support_lines.back().to_1d (segment.target());
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}
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else
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{
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FT max_negative = -(std::numeric_limits<FT>::max)();
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FT min_positive = (std::numeric_limits<FT>::max)();
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for (std::size_t i = 0; i < 4; ++ i)
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{
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Point_2 point;
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if (!KSP::intersection(m_support_lines[i].line(), m_support_lines.back().line(), point))
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continue;
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FT position = m_support_lines.back().to_1d (point);
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if (position < 0 && position > max_negative)
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max_negative = position;
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if (position > 0 && position < min_positive)
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min_positive = position;
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}
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CGAL_assertion (max_negative != -(std::numeric_limits<FT>::max)()
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&& min_positive != -(std::numeric_limits<FT>::min)());
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m_support_lines.back().minimum() = max_negative;
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m_support_lines.back().maximum() = min_positive;
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}
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}
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else
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support_line(support_line_idx).connected_components() ++;
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std::size_t segment_idx = m_segments.size();
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m_segments.push_back (Segment(input_idx, support_line_idx));
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m_support_lines[support_line_idx].segments_idx().push_back (segment_idx);
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std::size_t source_idx = m_vertices.size();
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m_vertices.push_back (Vertex (m_support_lines[support_line_idx].to_1d (segment.source()),
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segment_idx));
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std::size_t target_idx = m_vertices.size();
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m_vertices.push_back (Vertex (m_support_lines[support_line_idx].to_1d (segment.target()),
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segment_idx));
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// Keep segment ordered
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if (m_vertices[source_idx].point(0) > m_vertices[target_idx].point(0))
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std::swap (source_idx, target_idx);
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m_segments[segment_idx].source_idx() = source_idx;
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m_segments[segment_idx].target_idx() = target_idx;
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return m_segments.back();
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}
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std::size_t add_meta_vertex (const Point_2& point,
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std::size_t support_line_idx_0,
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std::size_t support_line_idx_1 = KSP::no_element())
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|
{
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// Avoid several points almost equal
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|
Point_2 p (1e-10 * std::floor(CGAL::to_double(point.x()) / 1e-10),
|
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1e-10 * std::floor(CGAL::to_double(point.y()) / 1e-10));
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|
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typename std::map<Point_2, std::size_t>::iterator iter;
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bool inserted = false;
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std::tie (iter, inserted) = m_meta_map.insert (std::make_pair (p, number_of_meta_vertices()));
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if (inserted)
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m_meta_vertices.push_back (Meta_vertex(p));
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|
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std::size_t meta_vertex_idx = iter->second;
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|
|
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for (std::size_t support_line_idx : { support_line_idx_0, support_line_idx_1 })
|
|
{
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|
if (support_line_idx != KSP::no_element())
|
|
{
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meta_vertex(meta_vertex_idx).support_lines_idx().insert (support_line_idx);
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|
|
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if (std::find(support_line(support_line_idx).meta_vertices_idx().begin(),
|
|
support_line(support_line_idx).meta_vertices_idx().end(),
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|
meta_vertex_idx) == support_line(support_line_idx).meta_vertices_idx().end())
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support_line(support_line_idx).meta_vertices_idx().push_back (meta_vertex_idx);
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|
}
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}
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|
|
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// Special case = meta vertex is deadend of one line
|
|
if (support_line_idx_1 == KSP::no_element())
|
|
{
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|
meta_vertex(meta_vertex_idx).make_deadend_of (support_line_idx_0);
|
|
}
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|
|
|
return meta_vertex_idx;
|
|
}
|
|
|
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void attach_vertex_to_meta_vertex (std::size_t vertex_idx, std::size_t meta_vertex_idx)
|
|
{
|
|
CGAL_assertion (!has_meta_vertex(vertex_idx));
|
|
CGAL_assertion_msg (meta_vertex(meta_vertex_idx).support_lines_idx().find
|
|
(segment_of_vertex(vertex_idx).support_line_idx())
|
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!= meta_vertex(meta_vertex_idx).support_lines_idx().end(),
|
|
"Trying to attach a vertex to a meta vertex not on its support line");
|
|
vertex(vertex_idx).meta_vertex_idx() = meta_vertex_idx;
|
|
}
|
|
|
|
void cut_segment (std::size_t segment_idx, std::size_t meta_vertex_idx)
|
|
{
|
|
std::vector<std::size_t> vec (1, meta_vertex_idx);
|
|
cut_segment (segment_idx, vec);
|
|
}
|
|
|
|
void cut_segment (std::size_t segment_idx, std::vector<std::size_t>& meta_vertices_idx)
|
|
{
|
|
Segment& segment = m_segments[segment_idx];
|
|
std::size_t input_idx = segment.input_idx();
|
|
std::size_t support_line_idx = segment.support_line_idx();
|
|
// std::size_t source_idx = segment.source_idx();
|
|
std::size_t target_idx = segment.target_idx();
|
|
|
|
Support_line& support_line = support_line_of_segment(segment_idx);
|
|
|
|
std::sort (meta_vertices_idx.begin(), meta_vertices_idx.end(),
|
|
[&](const std::size_t& a,
|
|
const std::size_t& b) -> bool
|
|
{
|
|
return (position_of_meta_vertex_on_support_line(a, support_line_idx)
|
|
< position_of_meta_vertex_on_support_line(b, support_line_idx));
|
|
});
|
|
|
|
std::size_t nb_segments_before = m_segments.size();
|
|
std::size_t nb_vertices_before = m_vertices.size();
|
|
|
|
// Attach to existing endpoint
|
|
std::size_t new_target_idx = m_vertices.size();
|
|
m_vertices.push_back (Vertex (position_of_meta_vertex_on_support_line(meta_vertices_idx.front(),
|
|
support_line_idx)));
|
|
m_vertices[new_target_idx].segment_idx() = segment_idx;
|
|
segment.target_idx() = new_target_idx;
|
|
attach_vertex_to_meta_vertex (new_target_idx, meta_vertices_idx.front());
|
|
|
|
// Create new segments
|
|
for (std::size_t i = 0; i < meta_vertices_idx.size() - 1; ++ i)
|
|
{
|
|
std::size_t sidx = m_segments.size();
|
|
m_segments.push_back (Segment (input_idx, support_line_idx));
|
|
support_line.segments_idx().push_back (sidx);
|
|
|
|
std::size_t source_idx = m_vertices.size();
|
|
m_vertices.push_back (Vertex (position_of_meta_vertex_on_support_line(meta_vertices_idx[i],
|
|
support_line_idx)));
|
|
m_vertices[source_idx].segment_idx() = sidx;
|
|
m_segments[sidx].source_idx() = source_idx;
|
|
attach_vertex_to_meta_vertex (source_idx, meta_vertices_idx[i]);
|
|
|
|
std::size_t target_idx = m_vertices.size();
|
|
m_vertices.push_back (Vertex (position_of_meta_vertex_on_support_line(meta_vertices_idx[i+1],
|
|
support_line_idx)));
|
|
m_vertices[target_idx].segment_idx() = sidx;
|
|
m_segments[sidx].target_idx() = target_idx;
|
|
attach_vertex_to_meta_vertex (source_idx, meta_vertices_idx[i+1]);
|
|
}
|
|
|
|
// Create final segment and attach to existing endpoint
|
|
std::size_t sidx = m_segments.size();
|
|
m_segments.push_back (Segment (input_idx, support_line_idx));
|
|
support_line.segments_idx().push_back (sidx);
|
|
|
|
std::size_t new_source_idx = m_vertices.size();
|
|
m_vertices.push_back (Vertex (position_of_meta_vertex_on_support_line(meta_vertices_idx.back(),
|
|
support_line_idx)));
|
|
m_vertices[new_source_idx].segment_idx() = sidx;
|
|
m_segments[sidx].source_idx() = new_source_idx;
|
|
attach_vertex_to_meta_vertex (new_source_idx, meta_vertices_idx.back());
|
|
|
|
m_vertices[target_idx].segment_idx() = sidx;
|
|
m_segments[sidx].target_idx() = target_idx;
|
|
}
|
|
|
|
std::size_t propagate_segment (std::size_t vertex_idx)
|
|
{
|
|
// Create a new segment
|
|
std::size_t segment_idx = m_segments.size();
|
|
m_segments.push_back (Segment(segment_of_vertex(vertex_idx).input_idx(),
|
|
segment_of_vertex(vertex_idx).support_line_idx()));
|
|
support_line_of_vertex(vertex_idx).segments_idx().push_back (segment_idx);
|
|
|
|
// Create new vertices
|
|
std::size_t source_idx = m_vertices.size();
|
|
m_vertices.push_back (Vertex (m_vertices[vertex_idx]));
|
|
std::size_t target_idx = m_vertices.size();
|
|
m_vertices.push_back (Vertex (m_vertices[vertex_idx]));
|
|
|
|
// Connect segments and vertices
|
|
m_segments[segment_idx].source_idx() = source_idx;
|
|
m_segments[segment_idx].target_idx() = target_idx;
|
|
m_vertices[source_idx].segment_idx() = segment_idx;
|
|
m_vertices[target_idx].segment_idx() = segment_idx;
|
|
|
|
CGAL_assertion (m_vertices[vertex_idx].direction() != 0);
|
|
|
|
// Keep vertices ordered on the segment
|
|
if (m_vertices[vertex_idx].direction() < 0)
|
|
std::swap (source_idx, target_idx);
|
|
|
|
// Freeze one end
|
|
m_vertices[source_idx].freeze(m_current_time);
|
|
|
|
// Release other end
|
|
m_vertices[target_idx].meta_vertex_idx() = KSP::no_element();
|
|
|
|
return target_idx;
|
|
}
|
|
|
|
void update_positions (FT time)
|
|
{
|
|
m_current_time = time;
|
|
}
|
|
|
|
};
|
|
|
|
|
|
}} // namespace CGAL::KSP_2
|
|
|
|
|
|
#endif // CGAL_KSP_2_DATA_STRUCTURE_H
|