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cgal/Kinetic_shape_reconstruction/include/CGAL/KSR_3/Data_structure.h

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// Copyright (c) 2019 GeometryFactory SARL (France).
// All rights reserved.
//
// This file is part of CGAL (www.cgal.org).
//
// $URL$
// $Id$
// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial
//
//
// Author(s) : Simon Giraudot
#ifndef CGAL_KSR_3_DATA_STRUCTURE_H
#define CGAL_KSR_3_DATA_STRUCTURE_H
// #include <CGAL/license/Kinetic_shape_reconstruction.h>
// CGAL includes.
// #include <CGAL/Delaunay_triangulation_2.h>
// Internal includes.
#include <CGAL/KSR/enum.h>
#include <CGAL/KSR/utils.h>
#include <CGAL/KSR/debug.h>
#include <CGAL/KSR/parameters.h>
#include <CGAL/KSR_3/Support_plane.h>
#include <CGAL/KSR_3/Intersection_graph.h>
namespace CGAL {
namespace KSR_3 {
template<typename GeomTraits>
class Data_structure {
public:
using Kernel = GeomTraits;
private:
using FT = typename Kernel::FT;
using Point_2 = typename Kernel::Point_2;
using Point_3 = typename Kernel::Point_3;
using Segment_2 = typename Kernel::Segment_2;
using Segment_3 = typename Kernel::Segment_3;
using Vector_2 = typename Kernel::Vector_2;
using Direction_2 = typename Kernel::Direction_2;
using Triangle_2 = typename Kernel::Triangle_2;
using Line_2 = typename Kernel::Line_2;
using Plane_3 = typename Kernel::Plane_3;
using Polygon_2 = CGAL::Polygon_2<Kernel>;
using Parameters = KSR::Parameters_3<FT>;
public:
using Support_plane = KSR_3::Support_plane<Kernel>;
using Intersection_graph = KSR_3::Intersection_graph<Kernel>;
using Mesh = typename Support_plane::Mesh;
using Vertex_index = typename Mesh::Vertex_index;
using Face_index = typename Mesh::Face_index;
using Edge_index = typename Mesh::Edge_index;
using Halfedge_index = typename Mesh::Halfedge_index;
using PVertex = std::pair<std::size_t, Vertex_index>;
using PFace = std::pair<std::size_t, Face_index>;
using PEdge = std::pair<std::size_t, Edge_index>;
template<typename PSimplex>
struct Make_PSimplex {
using argument_type = typename PSimplex::second_type;
using result_type = PSimplex;
const std::size_t support_plane_idx;
Make_PSimplex(const std::size_t sp_idx) :
support_plane_idx(sp_idx)
{ }
const result_type operator()(const argument_type& arg) const {
return result_type(support_plane_idx, arg);
}
};
using PVertex_iterator =
boost::transform_iterator<Make_PSimplex<PVertex>, typename Mesh::Vertex_range::iterator>;
using PVertices = CGAL::Iterator_range<PVertex_iterator>;
using PFace_iterator =
boost::transform_iterator<Make_PSimplex<PFace>, typename Mesh::Face_range::iterator>;
using PFaces = CGAL::Iterator_range<PFace_iterator>;
using PEdge_iterator =
boost::transform_iterator<Make_PSimplex<PEdge>, typename Mesh::Edge_range::iterator>;
using PEdges = CGAL::Iterator_range<PEdge_iterator>;
struct Halfedge_to_pvertex {
using argument_type = Halfedge_index;
using result_type = PVertex;
const std::size_t support_plane_idx;
const Mesh& mesh;
Halfedge_to_pvertex(const std::size_t sp_idx, const Mesh& m) :
support_plane_idx(sp_idx),
mesh(m)
{ }
const result_type operator()(const argument_type& arg) const {
return result_type(support_plane_idx, mesh.target(arg));
}
};
using PVertex_of_pface_iterator =
boost::transform_iterator<Halfedge_to_pvertex, CGAL::Halfedge_around_face_iterator<Mesh> >;
using PVertices_of_pface = CGAL::Iterator_range<PVertex_of_pface_iterator>;
struct Halfedge_to_pedge {
using argument_type = Halfedge_index;
using result_type = PEdge;
const std::size_t support_plane_idx;
const Mesh& mesh;
Halfedge_to_pedge(const std::size_t sp_idx, const Mesh& m) :
support_plane_idx(sp_idx),
mesh(m)
{ }
const result_type operator()(const argument_type& arg) const {
return result_type(support_plane_idx, mesh.edge(arg));
}
};
struct Halfedge_to_pface {
using argument_type = Halfedge_index;
using result_type = PFace;
const std::size_t support_plane_idx;
const Mesh& mesh;
Halfedge_to_pface(const std::size_t sp_idx, const Mesh& m) :
support_plane_idx(sp_idx),
mesh(m)
{ }
const result_type operator()(const argument_type& arg) const {
return result_type(support_plane_idx, mesh.face(arg));
}
};
using PEdge_around_pvertex_iterator =
boost::transform_iterator<Halfedge_to_pedge, CGAL::Halfedge_around_target_iterator<Mesh> >;
using PEdges_around_pvertex = CGAL::Iterator_range<PEdge_around_pvertex_iterator>;
using PEdge_of_pface_iterator =
boost::transform_iterator<Halfedge_to_pedge, CGAL::Halfedge_around_face_iterator<Mesh> >;
using PEdges_of_pface = CGAL::Iterator_range<PEdge_of_pface_iterator>;
using PFace_around_pvertex_iterator =
boost::transform_iterator<Halfedge_to_pface, CGAL::Halfedge_around_target_iterator<Mesh> >;
using PFaces_around_pvertex = CGAL::Iterator_range<PFace_around_pvertex_iterator>;
using IVertex = typename Intersection_graph::Vertex_descriptor;
using IEdge = typename Intersection_graph::Edge_descriptor;
using Visibility_label = KSR::Visibility_label;
struct Volume_cell {
std::vector<PFace> pfaces;
std::vector<int> neighbors;
std::set<PVertex> pvertices;
std::size_t index = std::size_t(-1);
Point_3 centroid;
Visibility_label visibility = Visibility_label::INSIDE;
FT inside = FT(1);
FT outside = FT(0);
FT weight = FT(0);
void add_pface(const PFace& pface, const int neighbor) {
pfaces.push_back(pface);
neighbors.push_back(neighbor);
}
void set_index(const std::size_t idx) {
index = idx;
}
void set_centroid(const Point_3& point) {
centroid = point;
}
};
struct Reconstructed_model {
std::vector<PFace> pfaces;
void clear() {
pfaces.clear();
}
};
private:
std::map< std::pair<std::size_t, IEdge>, Point_2> m_points;
std::map< std::pair<std::size_t, IEdge>, Vector_2> m_directions;
std::vector<Support_plane> m_support_planes;
Intersection_graph m_intersection_graph;
using Limit_line = std::vector< std::pair< std::pair<std::size_t, std::size_t>, bool> >;
std::vector<Limit_line> m_limit_lines;
const Parameters& m_parameters;
FT m_previous_time;
FT m_current_time;
std::vector<Volume_cell> m_volumes;
std::map<int, std::size_t> m_volume_level_map;
std::map<PFace, std::pair<int, int> > m_map_volumes;
std::map<std::size_t, std::size_t> m_input_polygon_map;
Reconstructed_model m_reconstructed_model;
public:
Data_structure(const Parameters& parameters) :
m_parameters(parameters),
m_previous_time(FT(0)),
m_current_time(FT(0))
{ }
/*******************************
** INITIALIZATION **
********************************/
void clear() {
m_points.clear();
m_directions.clear();
m_support_planes.clear();
m_intersection_graph.clear();
m_limit_lines.clear();
m_previous_time = FT(0);
m_current_time = FT(0);
m_volumes.clear();
m_volume_level_map.clear();
m_map_volumes.clear();
m_input_polygon_map.clear();
m_reconstructed_model.clear();
}
void precompute_iedge_data() {
for (std::size_t i = 0; i < number_of_support_planes(); ++i) {
auto& unique_iedges = support_plane(i).unique_iedges();
CGAL_assertion(unique_iedges.size() > 0);
auto& iedges = this->iedges(i);
auto& ibboxes = this->ibboxes(i);
auto& isegments = this->isegments(i);
iedges.clear();
iedges.reserve(unique_iedges.size());
std::copy(unique_iedges.begin(), unique_iedges.end(), std::back_inserter(iedges));
unique_iedges.clear();
ibboxes.clear();
isegments.clear();
ibboxes.reserve(iedges.size());
isegments.reserve(iedges.size());
for (const auto& iedge : iedges) {
isegments.push_back(segment_2(i, iedge));
ibboxes.push_back(isegments.back().bbox());
}
}
}
void set_limit_lines() {
m_limit_lines.clear();
m_limit_lines.resize(nb_intersection_lines());
std::vector<std::size_t> sps;
std::set<std::size_t> unique_sps;
std::set<PEdge> unique_pedges;
auto pvertex = null_pvertex();
std::size_t num_1_intersected = 0;
std::size_t num_2_intersected = 0;
std::vector<IEdge> iedges;
for (std::size_t i = 0; i < m_limit_lines.size(); ++i) {
iedges.clear();
for (const auto iedge : this->iedges()) {
const auto line_idx = this->line_idx(iedge);
CGAL_assertion(line_idx != KSR::no_element());
CGAL_assertion(line_idx < m_limit_lines.size());
if (line_idx == i) {
iedges.push_back(iedge);
}
}
CGAL_assertion(iedges.size() > 0);
unique_pedges.clear();
for (const auto& iedge : iedges) {
get_occupied_pedges(pvertex, iedge, unique_pedges);
}
CGAL_assertion(unique_pedges.size() >= 0);
if (unique_pedges.size() == 0) continue;
unique_sps.clear();
for (const auto& pedge : unique_pedges) {
unique_sps.insert(pedge.first);
}
CGAL_assertion(unique_sps.size() > 0);
CGAL_assertion_msg(unique_sps.size() <= 2,
"TODO: CAN WE HAVE MORE THAN 2 INTERSECTIONS?");
sps.clear();
std::copy(unique_sps.begin(), unique_sps.end(), std::back_inserter(sps));
CGAL_assertion(sps.size() == unique_sps.size());
auto& pairs = m_limit_lines[i];
CGAL_assertion(pairs.size() == 0);
if (sps.size() == 0) {
// do nothing
} else if (sps.size() == 1) {
const auto sp_idx_1 = sps[0];
std::vector<std::size_t> potential_sps;
const auto intersected_planes = this->intersected_planes(iedges[0]);
for (const auto plane_idx : intersected_planes) {
if (plane_idx == sp_idx_1) continue;
CGAL_assertion(plane_idx >= 6);
potential_sps.push_back(plane_idx);
}
CGAL_assertion_msg(potential_sps.size() == 1,
"TODO: CAN WE HAVE MORE THAN 2 INTERSECTIONS?");
const auto sp_idx_2 = potential_sps[0];
CGAL_assertion(sp_idx_2 != sp_idx_1);
CGAL_assertion(sp_idx_1 != KSR::no_element());
CGAL_assertion(sp_idx_2 != KSR::no_element());
pairs.push_back(std::make_pair(std::make_pair(sp_idx_1, sp_idx_2), false));
// Makes results much better! ??
// Probably because it gives more available intersections between planes
// that is the same as increasing k. Is it good? No! Is it correct?
// pairs.push_back(std::make_pair(std::make_pair(sp_idx_2, sp_idx_1), false));
++num_1_intersected;
// if (m_parameters.debug) {
// std::cout << "pair 1: " << std::to_string(sp_idx_1) << "/" << std::to_string(sp_idx_2) << std::endl;
// }
// CGAL_assertion_msg(false, "TODO: 1 POLYGON IS INTERSECTED!");
} else if (sps.size() == 2) {
const auto sp_idx_1 = sps[0];
const auto sp_idx_2 = sps[1];
CGAL_assertion(sp_idx_2 != sp_idx_1);
CGAL_assertion(sp_idx_1 != KSR::no_element());
CGAL_assertion(sp_idx_2 != KSR::no_element());
pairs.push_back(std::make_pair(std::make_pair(sp_idx_1, sp_idx_2), false));
pairs.push_back(std::make_pair(std::make_pair(sp_idx_2, sp_idx_1), false));
++num_2_intersected;
// if (m_parameters.debug) {
// std::cout << "pair 1: " << std::to_string(sp_idx_1) << "/" << std::to_string(sp_idx_2) << std::endl;
// std::cout << "pair 2: " << std::to_string(sp_idx_2) << "/" << std::to_string(sp_idx_1) << std::endl;
// }
// CGAL_assertion_msg(false, "TODO: 2 POLYGONS ARE INTERSECTED!");
} else {
CGAL_assertion(sps.size() > 2);
CGAL_assertion_msg(false,
"TODO: CAN WE HAVE MORE THAN 2 INTERSECTIONS?");
}
}
if (m_parameters.debug) {
std::cout << "- num 1 intersected: " << num_1_intersected << std::endl;
std::cout << "- num 2 intersected: " << num_2_intersected << std::endl;
}
// CGAL_assertion_msg(false, "TODO: SET LIMIT LINES!");
}
/*******************************
** ACCESS **
********************************/
void set_input_polygon_map(
const std::map<std::size_t, std::size_t>& input_polygon_map) {
m_input_polygon_map = input_polygon_map;
}
int support_plane_index(const std::size_t polygon_index) const {
CGAL_assertion(m_input_polygon_map.find(polygon_index) != m_input_polygon_map.end());
const std::size_t sp_idx = m_input_polygon_map.at(polygon_index);
return static_cast<int>(sp_idx);
}
int number_of_volume_levels() const {
return static_cast<int>(m_volume_level_map.size());
}
std::size_t number_of_volumes(const int volume_level) const {
CGAL_assertion(volume_level < number_of_volume_levels());
if (volume_level >= number_of_volume_levels()) return std::size_t(-1);
if (volume_level < 0) {
return m_volumes.size();
}
CGAL_assertion(volume_level >= 0);
CGAL_assertion(m_volume_level_map.find(volume_level) != m_volume_level_map.end());
return m_volume_level_map.at(volume_level);
}
template<typename DS>
void transfer_to(DS& ds) {
CGAL_assertion_msg(false,
"USE THIS ONLY FOR CONVERTING EXACT THIS DATA TO INEXACT DS!");
ds.clear();
ds.resize(number_of_support_planes());
CGAL_assertion(ds.number_of_support_planes() == number_of_support_planes());
m_intersection_graph.convert(ds.igraph());
for (std::size_t i = 0; i < number_of_support_planes(); ++i) {
m_support_planes[i].convert(m_intersection_graph, ds.support_planes()[i]);
}
ds.set_input_polygon_map(m_input_polygon_map);
}
/*******************************
** GENERAL **
********************************/
std::map<PFace, std::pair<int, int> >& pface_neighbors() { return m_map_volumes; }
const std::map<PFace, std::pair<int, int> >& pface_neighbors() const { return m_map_volumes; }
std::map<int, std::size_t>& volume_level_map() { return m_volume_level_map; }
const std::map<int, std::size_t>& volume_level_map() const { return m_volume_level_map; }
const std::vector<Support_plane>& support_planes() const { return m_support_planes; }
std::vector<Support_plane>& support_planes() { return m_support_planes; }
const Intersection_graph& igraph() const { return m_intersection_graph; }
Intersection_graph& igraph() { return m_intersection_graph; }
void resize(const std::size_t number_of_items) {
m_support_planes.resize(number_of_items);
}
void reserve(const std::size_t number_of_polygons) {
m_support_planes.reserve(number_of_polygons + 6);
}
const FT current_time() const { return m_current_time; }
const FT previous_time() const { return m_previous_time; }
void update_positions(const FT time) {
m_previous_time = m_current_time;
m_current_time = time;
}
void set_last_event_time(const PVertex& pvertex, const FT time) {
support_plane(pvertex).set_last_event_time(pvertex.second, time);
}
const FT last_event_time(const PVertex& pvertex) {
return support_plane(pvertex).last_event_time(pvertex.second, current_time());
}
std::vector<Volume_cell>& volumes() { return m_volumes; }
const std::vector<Volume_cell>& volumes() const { return m_volumes; }
Reconstructed_model& reconstructed_model() { return m_reconstructed_model; }
const Reconstructed_model& reconstructed_model() const { return m_reconstructed_model; }
/*******************************
** SUPPORT PLANES **
********************************/
template<typename PSimplex>
const Support_plane& support_plane(const PSimplex& psimplex) const { return support_plane(psimplex.first); }
const Support_plane& support_plane(const std::size_t idx) const { return m_support_planes[idx]; }
template<typename PSimplex>
Support_plane& support_plane(const PSimplex& psimplex) { return support_plane(psimplex.first); }
Support_plane& support_plane(const std::size_t idx) { return m_support_planes[idx]; }
template<typename PSimplex>
const Mesh& mesh(const PSimplex& psimplex) const { return mesh(psimplex.first); }
const Mesh& mesh(const std::size_t support_plane_idx) const { return support_plane(support_plane_idx).mesh(); }
template<typename PSimplex>
Mesh& mesh(const PSimplex& psimplex) { return mesh(psimplex.first); }
Mesh& mesh(const std::size_t support_plane_idx) { return support_plane(support_plane_idx).mesh(); }
std::size_t number_of_support_planes() const {
return m_support_planes.size();
}
bool is_bbox_support_plane(const std::size_t support_plane_idx) const {
return (support_plane_idx < 6);
}
template<typename PointRange>
std::pair<std::size_t, bool> add_support_plane(
const PointRange& polygon, const bool is_bbox) {
const Support_plane new_support_plane(polygon, is_bbox);
std::size_t support_plane_idx = KSR::no_element();
bool found_coplanar_polygons = false;
bool is_added = false;
for (std::size_t i = 0; i < number_of_support_planes(); ++i) {
if (new_support_plane == support_plane(i)) {
found_coplanar_polygons = true;
support_plane_idx = i;
return std::make_pair(support_plane_idx, is_added);
}
}
CGAL_assertion_msg(!found_coplanar_polygons,
"ERROR: NO COPLANAR POLYGONS HERE!");
is_added = !is_added;
if (support_plane_idx == KSR::no_element()) {
support_plane_idx = number_of_support_planes();
m_support_planes.push_back(new_support_plane);
}
intersect_with_bbox(support_plane_idx);
return std::make_pair(support_plane_idx, is_added);
}
void intersect_with_bbox(const std::size_t sp_idx) {
if (is_bbox_support_plane(sp_idx)) return;
// std::cout << "input graph: " << std::endl;
// for (const auto iedge : m_intersection_graph.edges())
// std::cout << "2 " << segment_3(iedge) << std::endl;
// Intersect current plane with all bbox iedges.
Point_3 point;
const auto& sp = support_plane(sp_idx);
const auto& plane = sp.plane();
using IEdge_vec = std::vector<IEdge>;
using IPair = std::pair<IVertex, IEdge_vec>;
using Pair = std::pair<Point_3, IPair>;
std::vector<Pair> polygon;
polygon.reserve(3);
const FT ptol = KSR::point_tolerance<FT>();
const auto all_iedges = m_intersection_graph.edges();
for (const auto iedge : all_iedges) {
const auto segment = segment_3(iedge);
if (!KSR::intersection(plane, segment, point)) {
continue;
}
const auto isource = source(iedge);
const auto itarget = target(iedge);
const FT dist1 = KSR::distance(point, point_3(isource));
const FT dist2 = KSR::distance(point, point_3(itarget));
const bool is_isource = (dist1 < ptol);
const bool is_itarget = (dist2 < ptol);
std::vector<IEdge> iedges;
if (is_isource) {
CGAL_assertion(!is_itarget);
const auto inc_edges = m_intersection_graph.incident_edges(isource);
CGAL_assertion(iedges.size() == 0);
iedges.reserve(inc_edges.size());
std::copy(inc_edges.begin(), inc_edges.end(), std::back_inserter(iedges));
CGAL_assertion(iedges.size() == inc_edges.size());
polygon.push_back(std::make_pair(point, std::make_pair(isource, iedges)));
}
if (is_itarget) {
CGAL_assertion(!is_isource);
const auto inc_edges = m_intersection_graph.incident_edges(itarget);
CGAL_assertion(iedges.size() == 0);
iedges.reserve(inc_edges.size());
std::copy(inc_edges.begin(), inc_edges.end(), std::back_inserter(iedges));
CGAL_assertion(iedges.size() == inc_edges.size());
polygon.push_back(std::make_pair(point, std::make_pair(itarget, iedges)));
}
if (!is_isource && !is_itarget) {
CGAL_assertion(iedges.size() == 0);
iedges.push_back(iedge);
polygon.push_back(std::make_pair(point, std::make_pair(null_ivertex(), iedges)));
}
}
// std::cout << "num intersections: " << polygon.size() << std::endl;
// Sort the points to get an oriented polygon.
FT x = FT(0), y = FT(0), z = FT(0);
for (const auto& pair : polygon) {
const auto& point = pair.first;
x += point.x();
y += point.y();
z += point.z();
}
x /= static_cast<FT>(polygon.size());
y /= static_cast<FT>(polygon.size());
z /= static_cast<FT>(polygon.size());
const Point_3 centroid_3(x, y, z);
// std::cout << "centroid: " << centroid_3 << std::endl;
Point_2 centroid_2 = sp.to_2d(centroid_3);
std::sort(polygon.begin(), polygon.end(),
[&](const Pair& a, const Pair& b) {
const auto a2 = sp.to_2d(a.first);
const auto b2 = sp.to_2d(b.first);
const Segment_2 sega(centroid_2, a2);
const Segment_2 segb(centroid_2, b2);
return ( Direction_2(sega) < Direction_2(segb) );
});
// std::cout << "oriented polygon: " << std::endl;
// for (const auto& pair : polygon) {
// const auto& item = pair.second;
// std::cout << item.second.size() << " : " << pair.first << std::endl;
// }
remove_equal_points(polygon, ptol);
// std::cout << "clean polygon: " << std::endl;
// for (const auto& pair : polygon) {
// const auto& item = pair.second;
// std::cout << item.second.size() << " : " << pair.first << std::endl;
// }
CGAL_assertion(is_valid_polygon(sp_idx, polygon));
// Find common planes.
std::vector<IVertex> vertices;
std::vector<std::size_t> common_planes_idx;
std::map<std::size_t, std::size_t> map_lines_idx;
const std::size_t n = polygon.size();
common_planes_idx.reserve(n);
vertices.reserve(n);
std::vector< std::set<std::size_t> > all_iplanes;
all_iplanes.reserve(n);
for (std::size_t i = 0; i < n; ++i) {
const auto& item = polygon[i].second;
const auto& iedges = item.second;
std::set<std::size_t> iplanes;
for (const auto& iedge : iedges) {
const auto& planes = m_intersection_graph.intersected_planes(iedge);
iplanes.insert(planes.begin(), planes.end());
}
// std::cout << "num iplanes: " << iplanes.size() << std::endl;
CGAL_assertion(iplanes.size() >= 2);
all_iplanes.push_back(iplanes);
}
CGAL_assertion(all_iplanes.size() == n);
for (std::size_t i = 0; i < n; ++i) {
const std::size_t ip = (i + 1) % n;
const auto& item = polygon[i].second;
const auto& iplanes0 = all_iplanes[i];
const auto& iplanes1 = all_iplanes[ip];
std::size_t common_plane_idx = KSR::no_element();
std::set_intersection(
iplanes0.begin(), iplanes0.end(),
iplanes1.begin(), iplanes1.end(),
boost::make_function_output_iterator(
[&](const std::size_t& idx) {
if (idx < 6) {
CGAL_assertion(common_plane_idx == KSR::no_element());
common_plane_idx = idx;
}
}
)
);
// std::cout << "cpi: " << common_plane_idx << std::endl;
CGAL_assertion(common_plane_idx != KSR::no_element());
common_planes_idx.push_back(common_plane_idx);
const auto pair = map_lines_idx.insert(
std::make_pair(common_plane_idx, KSR::no_element()));
const bool is_inserted = pair.second;
if (is_inserted) {
pair.first->second = m_intersection_graph.add_line();
}
if (item.first != null_ivertex()) {
vertices.push_back(item.first);
} else {
CGAL_assertion(item.first == null_ivertex());
vertices.push_back(
m_intersection_graph.add_vertex(polygon[i].first).first);
}
}
CGAL_assertion(common_planes_idx.size() == n);
CGAL_assertion(vertices.size() == n);
// std::cout << "vertices: " << std::endl;
// for (const auto& vertex : vertices) {
// std::cout << point_3(vertex) << std::endl;
// }
// Insert, split iedges.
CGAL_assertion(common_planes_idx.size() == n);
for (std::size_t i = 0; i < n; ++i) {
const std::size_t ip = (i + 1) % n;
const auto& item = polygon[i].second;
const std::size_t common_plane_idx = common_planes_idx[i];
const auto new_iedge = m_intersection_graph.add_edge(vertices[i], vertices[ip], sp_idx).first;
m_intersection_graph.intersected_planes(new_iedge).insert(common_plane_idx);
CGAL_assertion(map_lines_idx.find(common_plane_idx) != map_lines_idx.end());
m_intersection_graph.set_line(new_iedge, map_lines_idx.at(common_plane_idx));
support_plane(sp_idx).unique_iedges().insert(new_iedge);
support_plane(common_plane_idx).unique_iedges().insert(new_iedge);
if (item.first == null_ivertex()) { // edge case, split
const auto& iplanes = all_iplanes[i];
CGAL_assertion(iplanes.size() >= 2);
CGAL_assertion(item.second.size() == 1);
const auto& iedge = item.second[0];
for (const std::size_t plane_idx : iplanes) {
support_plane(plane_idx).unique_iedges().erase(iedge);
}
const auto edges = m_intersection_graph.split_edge(iedge, vertices[i]);
const auto& iplanes0 = m_intersection_graph.intersected_planes(edges.first);
for (const std::size_t plane_idx : iplanes0) {
support_plane(plane_idx).unique_iedges().insert(edges.first);
}
const auto& iplanes1 = m_intersection_graph.intersected_planes(edges.second);
for (const std::size_t plane_idx : iplanes1) {
support_plane(plane_idx).unique_iedges().insert(edges.second);
}
}
}
// std::cout << "output graph: " << std::endl;
// for (const auto iedge : m_intersection_graph.edges())
// std::cout << "2 " << segment_3(iedge) << std::endl;
// exit(EXIT_SUCCESS);
}
template<typename PointRange>
void add_bbox_polygon(const PointRange& polygon) {
bool is_added = true;
std::size_t support_plane_idx = KSR::no_element();
std::tie(support_plane_idx, is_added) = add_support_plane(polygon, true);
CGAL_assertion(is_added);
CGAL_assertion(support_plane_idx != KSR::no_element());
std::array<IVertex, 4> ivertices;
std::array<Point_2, 4> points;
for (std::size_t i = 0; i < 4; ++i) {
points[i] = support_plane(support_plane_idx).to_2d(polygon[i]);
ivertices[i] = m_intersection_graph.add_vertex(polygon[i]).first;
}
const auto vertices =
support_plane(support_plane_idx).add_bbox_polygon(points, ivertices);
for (std::size_t i = 0; i < 4; ++i) {
const auto pair = m_intersection_graph.add_edge(ivertices[i], ivertices[(i+1)%4], support_plane_idx);
const auto& iedge = pair.first;
const bool is_inserted = pair.second;
if (is_inserted) {
m_intersection_graph.set_line(iedge, m_intersection_graph.add_line());
}
support_plane(support_plane_idx).set_iedge(vertices[i], vertices[(i + 1) % 4], iedge);
support_plane(support_plane_idx).unique_iedges().insert(iedge);
}
}
template<typename PointRange>
void add_input_polygon(
const PointRange& polygon, const std::size_t input_index) {
CGAL_assertion_msg(false,
"TODO: THIS FUNCTION SHOULD NOT BE CALLED! DELETE IT LATER!");
bool is_added = true;
std::size_t support_plane_idx = KSR::no_element();
std::tie(support_plane_idx, is_added) = add_support_plane(polygon, false);
CGAL_assertion(is_added);
CGAL_assertion(support_plane_idx != KSR::no_element());
std::vector< std::pair<Point_2, bool> > points;
points.reserve(polygon.size());
for (const auto& point : polygon) {
const Point_3 converted(
static_cast<FT>(point.x()),
static_cast<FT>(point.y()),
static_cast<FT>(point.z()));
points.push_back(std::make_pair(
support_plane(support_plane_idx).to_2d(converted), true));
}
preprocess(points);
const auto centroid = sort_points_by_direction(points);
std::vector<std::size_t> input_indices;
input_indices.push_back(input_index);
support_plane(support_plane_idx).
add_input_polygon(points, centroid, input_indices);
m_input_polygon_map[input_index] = support_plane_idx;
}
void add_input_polygon(
const std::size_t support_plane_idx,
const std::vector<std::size_t>& input_indices,
const std::vector<Point_2>& polygon) {
std::vector< std::pair<Point_2, bool> > points;
points.reserve(polygon.size());
for (const auto& point : polygon) {
points.push_back(std::make_pair(point, true));
}
CGAL_assertion(points.size() == polygon.size());
preprocess(points);
const auto centroid = sort_points_by_direction(points);
support_plane(support_plane_idx).
add_input_polygon(points, centroid, input_indices);
for (const std::size_t input_index : input_indices) {
m_input_polygon_map[input_index] = support_plane_idx;
}
}
template<typename Pair>
void preprocess(
std::vector<Pair>& points,
const FT min_dist = KSR::tolerance<FT>(),
const FT min_angle = FT(10)) const {
// std::vector< std::pair<Point_2, true> > points;
// points.push_back(std::make_pair(Point_2(0.0, 0.0)));
// points.push_back(std::make_pair(Point_2(0.1, 0.0)));
// points.push_back(std::make_pair(Point_2(0.2, 0.0)));
// points.push_back(std::make_pair(Point_2(0.3, 0.0)));
// points.push_back(std::make_pair(Point_2(0.6, 0.0)));
// points.push_back(std::make_pair(Point_2(0.7, 0.0)));
// points.push_back(std::make_pair(Point_2(0.9, 0.0)));
// points.push_back(std::make_pair(Point_2(1.0, 0.0)));
// points.push_back(std::make_pair(Point_2(1.0, 0.1)));
// points.push_back(std::make_pair(Point_2(1.0, 0.2)));
// points.push_back(std::make_pair(Point_2(1.0, 0.5)));
// points.push_back(std::make_pair(Point_2(1.0, 1.0)));
// points.push_back(std::make_pair(Point_2(0.9, 1.0)));
// points.push_back(std::make_pair(Point_2(0.5, 1.0)));
// points.push_back(std::make_pair(Point_2(0.2, 1.0)));
// points.push_back(std::make_pair(Point_2(0.0, 1.0)));
// points.push_back(std::make_pair(Point_2(0.0, 0.9)));
// points.push_back(std::make_pair(Point_2(0.0, 0.8)));
// points.push_back(std::make_pair(Point_2(0.0, 0.5)));
// points.push_back(std::make_pair(Point_2(0.0, 0.2)));
// points.push_back(std::make_pair(Point_2(0.0, 0.1)));
// const FT min_dist = FT(15) / FT(100);
// std::cout << "before: " << points.size() << std::endl;
// for (const auto& pair : points) {
// std::cout << pair.first << " 0 " << std::endl;
// }
remove_equal_points(points, min_dist);
// std::cout << "after 1: " << points.size() << std::endl;
// for (const auto& pair : points) {
// std::cout << pair.first << " 0 " << std::endl;
// }
remove_collinear_points(points, min_angle);
// std::cout << "after 2: " << points.size() << std::endl;
// for (const auto& pair : points) {
// std::cout << pair.first << " 0 " << std::endl;
// }
// exit(EXIT_SUCCESS);
}
template<typename Pair>
void remove_equal_points(std::vector<Pair>& points, const FT min_dist) const {
// std::cout << std::endl;
std::vector<Pair> polygon;
const std::size_t n = points.size();
for (std::size_t i = 0; i < n; ++i) {
const auto& first = points[i];
polygon.push_back(first);
while (true) {
const auto& p = points[i].first;
const std::size_t ip = (i + 1) % n;
const auto& q = points[ip].first;
const FT distance = KSR::distance(p, q);
const bool is_small = (distance < min_dist);
if (ip == 0 && is_small) break;
if (is_small) {
CGAL_assertion(ip != 0);
i = ip; continue;
}
CGAL_assertion(!is_small);
break;
};
}
CGAL_assertion(polygon.size() >= 3);
points = polygon;
// CGAL_assertion_msg(false, "TODO: REMOVE EQUAL POINTS!");
}
template<typename Pair>
void remove_collinear_points(std::vector<Pair>& points, const FT min_angle) const {
// std::cout << std::endl;
std::vector<Pair> polygon;
const std::size_t n = points.size();
for (std::size_t i = 0; i < n; ++i) {
const std::size_t im = (i + n - 1) % n;
const std::size_t ip = (i + 1) % n;
const auto& p = points[im].first;
const auto& q = points[i].first;
const auto& r = points[ip].first;
Vector_2 vec1(q, r);
Vector_2 vec2(q, p);
vec1 = KSR::normalize(vec1);
vec2 = KSR::normalize(vec2);
const Direction_2 dir1(vec1);
const Direction_2 dir2(vec2);
const FT angle = KSR::angle_2(dir1, dir2);
// std::cout << "- angle: " << angle << " : " << min_angle << std::endl;
if (angle > min_angle) polygon.push_back(points[i]);
}
if (polygon.size() >= 3) points = polygon;
else remove_collinear_points(points, min_angle / FT(2));
// CGAL_assertion_msg(false, "TODO: REMOVE COLLINEAR POINTS!");
}
template<typename Pair>
const Point_2 sort_points_by_direction(std::vector<Pair>& points) const {
// Naive version.
// const auto centroid = CGAL::centroid(points.begin(), points.end());
// Better version.
// using TRI = CGAL::Delaunay_triangulation_2<Kernel>;
// TRI tri(points.begin(), points.end());
// std::vector<Triangle_2> triangles;
// triangles.reserve(tri.number_of_faces());
// for (auto fit = tri.finite_faces_begin(); fit != tri.finite_faces_end(); ++fit) {
// triangles.push_back(Triangle_2(
// fit->vertex(0)->point(), fit->vertex(1)->point(), fit->vertex(2)->point()));
// }
// const auto centroid = CGAL::centroid(triangles.begin(), triangles.end());
FT x = FT(0), y = FT(0);
for (const auto& pair : points) {
const auto& point = pair.first;
x += point.x();
y += point.y();
}
x /= static_cast<FT>(points.size());
y /= static_cast<FT>(points.size());
const Point_2 centroid(x, y);
std::sort(points.begin(), points.end(),
[&](const Pair& a, const Pair& b) -> bool {
const Segment_2 sega(centroid, a.first);
const Segment_2 segb(centroid, b.first);
return ( Direction_2(sega) < Direction_2(segb) );
});
return centroid;
}
/*******************************
** PSimplices **
********************************/
static PVertex null_pvertex() { return PVertex(KSR::no_element(), Vertex_index()); }
static PEdge null_pedge() { return PEdge(KSR::no_element(), Edge_index()); }
static PFace null_pface() { return PFace(KSR::no_element(), Face_index()); }
const PVertices pvertices(const std::size_t support_plane_idx) const {
return PVertices(
boost::make_transform_iterator(
mesh(support_plane_idx).vertices().begin(),
Make_PSimplex<PVertex>(support_plane_idx)),
boost::make_transform_iterator(
mesh(support_plane_idx).vertices().end(),
Make_PSimplex<PVertex>(support_plane_idx)));
}
const PEdges pedges(const std::size_t support_plane_idx) const {
return PEdges(
boost::make_transform_iterator(
mesh(support_plane_idx).edges().begin(),
Make_PSimplex<PEdge>(support_plane_idx)),
boost::make_transform_iterator(
mesh(support_plane_idx).edges().end(),
Make_PSimplex<PEdge>(support_plane_idx)));
}
const PFaces pfaces(const std::size_t support_plane_idx) const {
return PFaces(
boost::make_transform_iterator(
mesh(support_plane_idx).faces().begin(),
Make_PSimplex<PFace>(support_plane_idx)),
boost::make_transform_iterator(
mesh(support_plane_idx).faces().end(),
Make_PSimplex<PFace>(support_plane_idx)));
}
// Get prev and next pvertices of the free pvertex.
const PVertex prev(const PVertex& pvertex) const {
return PVertex(pvertex.first, support_plane(pvertex).prev(pvertex.second));
}
const PVertex next(const PVertex& pvertex) const {
return PVertex(pvertex.first, support_plane(pvertex).next(pvertex.second));
}
// Get prev and next pvertices of the constrained pvertex.
const std::pair<PVertex, PVertex> prev_and_next(const PVertex& pvertex) const {
std::pair<PVertex, PVertex> out(null_pvertex(), null_pvertex());
for (const auto& he : halfedges_around_target(
halfedge(pvertex.second, mesh(pvertex)), mesh(pvertex))) {
const auto iedge = support_plane(pvertex).iedge(mesh(pvertex).edge(he));
if (iedge == this->iedge(pvertex)) {
continue;
}
if (out.first == null_pvertex()) {
out.first = PVertex(pvertex.first, mesh(pvertex).source(he));
} else {
out.second = PVertex(pvertex.first, mesh(pvertex).source(he));
return out;
}
}
return out;
}
std::size_t get_iedges_front_back(
const PVertex& event_pvertex, const std::vector<PVertex>& pvertices,
std::vector<IEdge>& fiedges, std::vector<IEdge>& biedges) const {
fiedges.clear(); biedges.clear();
const auto ref_iedge = this->iedge(event_pvertex);
CGAL_assertion(ref_iedge != null_iedge());
std::size_t event_idx = KSR::no_element();
for (std::size_t i = 0; i < pvertices.size(); ++i) {
if (pvertices[i] == event_pvertex) {
event_idx = i; break;
}
}
CGAL_assertion(event_idx != KSR::no_element());
for (std::size_t i = 0; i < pvertices.size(); ++i) {
const auto iedge = this->iedge(pvertices[i]);
if (iedge == null_iedge()) continue;
CGAL_assertion(iedge != null_iedge());
// if (iedge == ref_iedge) continue;
// CGAL_assertion(i != event_idx);
if (i < event_idx) {
if (fiedges.size() > 0 && fiedges.back() == iedge) continue;
fiedges.push_back(iedge);
} else {
if (biedges.size() > 0 && biedges.back() == iedge) continue;
biedges.push_back(iedge);
}
}
if (m_parameters.debug) {
std::cout << "- iedges, front: " << fiedges.size() << std::endl;
for (const auto& fiedge : fiedges) {
std::cout << str(fiedge) << ": " << segment_3(fiedge) << std::endl;
}
}
if (m_parameters.debug ) {
std::cout << "- iedges, back: " << biedges.size() << std::endl;
for (const auto& biedge : biedges) {
std::cout << str(biedge) << ": " << segment_3(biedge) << std::endl;
}
}
return event_idx;
}
const std::pair<PVertex, PVertex> front_and_back_34(const PVertex& pvertex) {
if (m_parameters.debug) std::cout << "- front back 34 case" << std::endl;
PVertex front, back;
const std::size_t sp_idx = pvertex.first;
CGAL_assertion(sp_idx != KSR::no_element());
const auto& initial = pvertex;
front = PVertex(sp_idx,
support_plane(sp_idx).duplicate_vertex(initial.second));
support_plane(sp_idx).set_point(
front.second, support_plane(sp_idx).get_point(initial.second));
back = PVertex(sp_idx,
support_plane(sp_idx).duplicate_vertex(front.second));
support_plane(sp_idx).set_point(
back.second, support_plane(sp_idx).get_point(front.second));
return std::make_pair(front, back);
}
const std::pair<PVertex, PVertex> front_and_back_5(
const PVertex& pvertex1, const PVertex& pvertex2) {
if (m_parameters.debug) std::cout << "- front back 5 case" << std::endl;
PVertex front, back;
CGAL_assertion(pvertex1.first == pvertex2.first);
const std::size_t sp_idx = pvertex1.first;
CGAL_assertion(sp_idx != KSR::no_element());
const auto& initial1 = pvertex1;
front = PVertex(sp_idx,
support_plane(sp_idx).duplicate_vertex(initial1.second));
support_plane(sp_idx).set_point(
front.second, support_plane(sp_idx).get_point(initial1.second));
const auto& initial2 = pvertex2;
back = PVertex(sp_idx,
support_plane(sp_idx).duplicate_vertex(initial2.second));
support_plane(sp_idx).set_point(
back.second, support_plane(sp_idx).get_point(initial2.second));
return std::make_pair(front, back);
}
void get_and_sort_all_connected_iedges(
const std::size_t sp_idx, const IVertex& ivertex,
std::vector< std::pair<IEdge, Direction_2> >& iedges) const {
auto inc_iedges = incident_iedges(ivertex);
std::copy(inc_iedges.begin(), inc_iedges.end(),
boost::make_function_output_iterator(
[&](const IEdge& inc_iedge) -> void {
const auto iplanes = intersected_planes(inc_iedge);
if (iplanes.find(sp_idx) == iplanes.end()) {
return;
}
const Direction_2 direction(
point_2(sp_idx, opposite(inc_iedge, ivertex)) -
point_2(sp_idx, ivertex));
iedges.push_back(std::make_pair(inc_iedge, direction));
}
)
);
std::sort(iedges.begin(), iedges.end(),
[&](const std::pair<IEdge, Direction_2>& a,
const std::pair<IEdge, Direction_2>& b) -> bool {
return a.second < b.second;
}
);
CGAL_assertion(iedges.size() > 0);
}
const std::pair<PVertex, PVertex> border_prev_and_next(const PVertex& pvertex) const {
// std::cout << point_3(pvertex) << std::endl;
auto he = mesh(pvertex).halfedge(pvertex.second);
const auto end = he;
// std::cout << point_3(PVertex(pvertex.first, mesh(pvertex).source(he))) << std::endl;
// std::cout << point_3(PVertex(pvertex.first, mesh(pvertex).target(he))) << std::endl;
// If the assertion below fails, it probably means that we need to circulate
// longer until we hit the border edge!
std::size_t count = 0;
while (true) {
if (mesh(pvertex).face(he) != Face_index()) {
he = mesh(pvertex).prev(mesh(pvertex).opposite(he));
// std::cout << point_3(PVertex(pvertex.first, mesh(pvertex).source(he))) << std::endl;
// std::cout << point_3(PVertex(pvertex.first, mesh(pvertex).target(he))) << std::endl;
++count;
} else { break; }
// std::cout << "count: " << count << std::endl;
CGAL_assertion(count <= 2);
if (he == end) {
CGAL_assertion_msg(false, "ERROR: BORDER HALFEDGE IS NOT FOUND, FULL CIRCLE!");
break;
}
if (count == 100) {
CGAL_assertion_msg(false, "ERROR: BORDER HALFEDGE IS NOT FOUND, LIMIT ITERATIONS!");
break;
}
}
CGAL_assertion(mesh(pvertex).face(he) == Face_index());
return std::make_pair(
PVertex(pvertex.first, mesh(pvertex).source(he)),
PVertex(pvertex.first, mesh(pvertex).target(mesh(pvertex).next(he))));
}
const PVertex add_pvertex(const std::size_t support_plane_idx, const Point_2& point) {
CGAL_assertion(support_plane_idx != KSR::uninitialized());
CGAL_assertion(support_plane_idx != KSR::no_element());
auto& m = mesh(support_plane_idx);
const auto vi = m.add_vertex(point);
CGAL_assertion(vi != typename Support_plane::Mesh::Vertex_index());
return PVertex(support_plane_idx, vi);
}
template<typename VertexRange>
const PFace add_pface(const VertexRange& pvertices) {
const auto support_plane_idx = pvertices.front().first;
CGAL_assertion(support_plane_idx != KSR::uninitialized());
CGAL_assertion(support_plane_idx != KSR::no_element());
auto& m = mesh(support_plane_idx);
const auto range = CGAL::make_range(
boost::make_transform_iterator(pvertices.begin(),
CGAL::Property_map_to_unary_function<CGAL::Second_of_pair_property_map<PVertex> >()),
boost::make_transform_iterator(pvertices.end(),
CGAL::Property_map_to_unary_function<CGAL::Second_of_pair_property_map<PVertex> >()));
const auto fi = m.add_face(range);
CGAL_assertion(fi != Support_plane::Mesh::null_face());
return PFace(support_plane_idx, fi);
}
void add_pfaces(
const FT min_time, const FT max_time,
const PVertex& pvertex, const IVertex& ivertex,
const PVertex& pv_prev, const PVertex& pv_next,
const bool is_open, const bool reverse, const bool use_limit_lines,
std::vector< std::pair<IEdge, bool> >& crossed_iedges,
std::vector<PVertex>& new_pvertices) {
if (crossed_iedges.size() < 2) return;
CGAL_assertion(crossed_iedges.size() >= 2);
CGAL_assertion(crossed_iedges.size() == new_pvertices.size());
CGAL_assertion(crossed_iedges.front().first != crossed_iedges.back().first);
add_pfaces_global(
min_time, max_time,
pvertex, ivertex, pv_prev, pv_next,
is_open, reverse, use_limit_lines,
crossed_iedges, new_pvertices);
// CGAL_assertion_msg(false, "TODO: ADD NEW PFACES!");
}
void add_pfaces_global(
const FT min_time, const FT max_time,
const PVertex& pvertex, const IVertex& ivertex,
const PVertex& pv_prev, const PVertex& pv_next,
const bool is_open, bool reverse, const bool use_limit_lines,
std::vector< std::pair<IEdge, bool> >& crossed_iedges,
std::vector<PVertex>& new_pvertices) {
traverse_iedges_global(
min_time, max_time,
pvertex, ivertex, pv_prev, pv_next,
is_open, reverse, use_limit_lines,
crossed_iedges, new_pvertices);
if (is_open) {
reverse = !reverse;
std::reverse(new_pvertices.begin(), new_pvertices.end());
std::reverse(crossed_iedges.begin(), crossed_iedges.end());
traverse_iedges_global(
min_time, max_time,
pvertex, ivertex, pv_prev, pv_next,
is_open, reverse, use_limit_lines,
crossed_iedges, new_pvertices);
reverse = !reverse;
std::reverse(new_pvertices.begin(), new_pvertices.end());
std::reverse(crossed_iedges.begin(), crossed_iedges.end());
}
// CGAL_assertion_msg(false, "TODO: ADD NEW PFACES GLOBAL!");
}
void traverse_iedges_global(
const FT min_time, const FT max_time,
const PVertex& pvertex, const IVertex& ivertex,
const PVertex& pv_prev, const PVertex& pv_next,
const bool is_open, const bool reverse, const bool use_limit_lines,
std::vector< std::pair<IEdge, bool> >& iedges,
std::vector<PVertex>& pvertices) {
if (m_parameters.debug) {
std::cout << "**** traversing iedges global" << std::endl;
std::cout << "- k intersections before: " << this->k(pvertex.first) << std::endl;
}
std::size_t num_added_pfaces = 0;
CGAL_assertion(iedges.size() >= 2);
CGAL_assertion(iedges.size() == pvertices.size());
CGAL_assertion(pvertices.front() != null_pvertex());
for (std::size_t i = 0; i < iedges.size() - 1; ++i) {
if (iedges[i].second) {
if (m_parameters.debug) {
std::cout << "- break iedge " << std::to_string(i) << std::endl;
} break;
} else {
if (m_parameters.debug) {
std::cout << "- handle iedge " << std::to_string(i) << std::endl;
}
}
iedges[i].second = true;
const auto& iedge_i = iedges[i].first;
CGAL_assertion_msg(
point_2(pvertex.first, ivertex) !=
point_2(pvertex.first, opposite(iedge_i, ivertex)),
"TODO: TRAVERSE IEDGES GLOBAL, HANDLE ZERO LENGTH IEDGE I!");
bool is_occupied_iedge, is_bbox_reached;
std::tie(is_occupied_iedge, is_bbox_reached) = is_occupied(pvertex, ivertex, iedge_i);
bool is_limit_line = false;
if (use_limit_lines) {
is_limit_line = update_limit_lines_and_k(pvertex, iedge_i, is_occupied_iedge);
}
if (m_parameters.debug) {
std::cout << "- bbox: " << is_bbox_reached << "; " <<
" limit: " << is_limit_line << "; " <<
" occupied: " << is_occupied_iedge << std::endl;
}
if (is_bbox_reached) {
if (m_parameters.debug) std::cout << "- bbox, stop" << std::endl;
break;
} else if (is_limit_line) {
if (m_parameters.debug) std::cout << "- limit, stop" << std::endl;
break;
} else {
if (m_parameters.debug) std::cout << "- free, any k, continue" << std::endl;
const std::size_t ip = i + 1;
const auto& iedge_ip = iedges[ip].first;
CGAL_assertion_msg(KSR::distance(
point_2(pvertex.first, ivertex),
point_2(pvertex.first, opposite(iedge_ip, ivertex))) >= KSR::point_tolerance<FT>(),
"TODO: TRAVERSE IEDGES GLOBAL, HANDLE ZERO-LENGTH IEDGE IP!");
add_new_pface(
min_time, max_time, ivertex, pvertex,
pv_prev, pv_next, is_open, reverse, i, iedge_ip, pvertices);
++num_added_pfaces;
continue;
}
}
if (num_added_pfaces == iedges.size() - 1) {
iedges.back().second = true;
}
if (m_parameters.debug) {
std::cout << "- num added pfaces: " << num_added_pfaces << std::endl;
std::cout << "- k intersections after: " << this->k(pvertex.first) << std::endl;
}
CGAL_assertion_msg(num_added_pfaces <= 2,
"TODO: CHECK CASES WHERE WE HAVE MORE THAN N NEW PFACES!");
// CGAL_assertion_msg(false, "TODO: TRAVERSE IEDGES GLOBAL!");
}
void add_new_pface(
const FT min_time, const FT max_time,
const IVertex& ivertex, const PVertex& pvertex, const PVertex& pv_prev, const PVertex& pv_next,
const bool is_open, const bool reverse, const std::size_t idx, const IEdge& iedge,
std::vector<PVertex>& pvertices) {
if (m_parameters.debug) {
std::cout << "- adding new pface: " << std::endl;
}
// The first pvertex of the new triangle.
const auto& pv1 = pvertices[idx];
CGAL_assertion(pv1 != null_pvertex());
if (m_parameters.debug) {
std::cout << "- pv1 " << str(pv1) << ": " << point_3(pv1) << std::endl;
}
// The second pvertex of the new triangle.
PVertex pv2 = null_pvertex();
const bool pv2_exists = (pvertices[idx + 1] != null_pvertex());
if (pv2_exists) {
CGAL_assertion((pvertices.size() - 1) == (idx + 1));
pv2 = pvertices[idx + 1];
} else {
create_new_pvertex(
min_time, max_time, ivertex, pvertex,
pv_prev, pv_next, is_open, idx + 1, iedge, pvertices);
pv2 = pvertices[idx + 1];
}
CGAL_assertion(pv2 != null_pvertex());
if (m_parameters.debug) {
std::cout << "- pv2 " << str(pv2) << ": " << point_3(pv2) << std::endl;
}
// Adding new triangle.
if (reverse) add_pface(std::array<PVertex, 3>{pvertex, pv2, pv1});
else add_pface(std::array<PVertex, 3>{pvertex, pv1, pv2});
if (!pv2_exists) connect_pedge(pvertex, pv2, iedge);
// CGAL_assertion_msg(false, "TODO: ADD NEW PFACE!");
}
void create_new_pvertex(
const FT min_time, const FT max_time,
const IVertex& ivertex, const PVertex& pvertex, const PVertex& pv_prev, const PVertex& pv_next,
const bool is_open, const std::size_t idx, const IEdge& iedge,
std::vector<PVertex>& pvertices) {
if (m_parameters.debug) std::cout << "- creating new pvertex" << std::endl;
bool is_parallel = false;
Point_2 future_point; Vector_2 future_direction;
if (!is_open) {
if (m_parameters.debug) std::cout << "- handling back/front case" << std::endl;
is_parallel = compute_future_point_and_direction(
0, ivertex, pv_prev, pv_next, iedge, future_point, future_direction);
if (is_parallel) {
if (m_parameters.debug) std::cout << "- new pvertex, back/front, parallel/reverse case" << std::endl;
CGAL_assertion_msg(!is_parallel,
"TODO: CREATE PVERTEX, BACK/FRONT, ADD PARALLEL CASE!");
} else {
if (m_parameters.debug) std::cout << "- new pvertex, back/front, standard case" << std::endl;
}
} else {
if (m_parameters.debug) std::cout << "- handling open case" << std::endl;
is_parallel = compute_future_point_and_direction(
pvertex, ivertex, pv_prev, pv_next, iedge, future_point, future_direction);
if (is_parallel) {
if (m_parameters.debug) std::cout << "- new pvertex, open, parallel/reverse case" << std::endl;
IEdge prev_iedge = null_iedge();
IEdge next_iedge = null_iedge();
if (is_intersecting_iedge(min_time, max_time, pv_prev, iedge)) {
prev_iedge = iedge;
}
if (is_intersecting_iedge(min_time, max_time, pv_next, iedge)) {
next_iedge = iedge;
}
if (prev_iedge == iedge) {
if (m_parameters.debug) std::cout << "- new pvertex, open, prev, parallel case" << std::endl;
CGAL_assertion_msg(!is_parallel, "TODO: CREATE_PVERTEX, OPEN, PREV, ADD PARALLEL CASE!");
} else {
if (m_parameters.debug) std::cout << "- new pvertex, open, prev, standard case" << std::endl;
}
if (next_iedge == iedge) {
if (m_parameters.debug) std::cout << "- new pvertex, open, next, parallel case" << std::endl;
CGAL_assertion_msg(!is_parallel, "TODO: CREATE_PVERTEX, OPEN, NEXT, ADD PARALLEL CASE!");
} else {
if (m_parameters.debug) std::cout << "- new pvertex, open, next, standard case" << std::endl;
}
CGAL_assertion_msg(!is_parallel, "TODO: CREATE_PVERTEX, OPEN, ADD PARALLEL CASE!");
} else {
if (m_parameters.debug) std::cout << "- new pvertex, open, standard case" << std::endl;
}
}
CGAL_assertion(future_direction != Vector_2());
const auto propagated = add_pvertex(pvertex.first, future_point);
direction(propagated) = future_direction;
CGAL_assertion(propagated != pvertex);
CGAL_assertion(idx < pvertices.size());
CGAL_assertion(pvertices[idx] == null_pvertex());
pvertices[idx] = propagated;
CGAL_assertion(is_correctly_oriented(
propagated.first, future_direction, ivertex, iedge));
// CGAL_assertion_msg(false, "TODO: CREATE NEW PVERTEX!");
}
void clear_pfaces(const std::size_t support_plane_idx) {
support_plane(support_plane_idx).clear_pfaces();
}
void clear_polygon_faces(const std::size_t support_plane_idx) {
Mesh& m = mesh(support_plane_idx);
for (const auto& fi : m.faces()) {
m.remove_face(fi);
}
for (const auto& ei : m.edges()) {
m.remove_edge(ei);
}
for (const auto& vi : m.vertices()) {
m.set_halfedge(vi, Halfedge_index());
}
}
PVertex source(const PEdge& pedge) const {
return PVertex(pedge.first, mesh(pedge).source(mesh(pedge).halfedge(pedge.second)));
}
PVertex target(const PEdge& pedge) const {
return PVertex(pedge.first, mesh(pedge).target(mesh(pedge).halfedge(pedge.second)));
}
PVertex opposite(const PEdge& pedge, const PVertex& pvertex) const {
if (mesh(pedge).target(mesh(pedge).halfedge(pedge.second)) == pvertex.second) {
return PVertex(pedge.first, mesh(pedge).source(mesh(pedge).halfedge(pedge.second)));
}
CGAL_assertion(mesh(pedge).source(mesh(pedge).halfedge(pedge.second)) == pvertex.second);
return PVertex(pedge.first, mesh(pedge).target(mesh(pedge).halfedge(pedge.second)));
}
Point_3 centroid_of_pface(const PFace& pface) const {
const std::function<Point_3(PVertex)> unary_f =
[&](const PVertex& pvertex) -> Point_3 {
return point_3(pvertex);
};
const std::vector<Point_3> polygon(
boost::make_transform_iterator(pvertices_of_pface(pface).begin(), unary_f),
boost::make_transform_iterator(pvertices_of_pface(pface).end() , unary_f));
CGAL_assertion(polygon.size() >= 3);
return CGAL::centroid(polygon.begin(), polygon.end());
}
Plane_3 plane_of_pface(const PFace& pface) const {
const std::function<Point_3(PVertex)> unary_f =
[&](const PVertex& pvertex) -> Point_3 {
return point_3(pvertex);
};
const std::vector<Point_3> polygon(
boost::make_transform_iterator(pvertices_of_pface(pface).begin(), unary_f),
boost::make_transform_iterator(pvertices_of_pface(pface).end() , unary_f));
CGAL_assertion(polygon.size() >= 3);
return Plane_3(polygon[0], polygon[1], polygon[2]);
}
PFace pface_of_pvertex(const PVertex& pvertex) const {
return PFace(pvertex.first, support_plane(pvertex).face(pvertex.second));
}
std::pair<PFace, PFace> pfaces_of_pvertex(const PVertex& pvertex) const {
std::pair<PFace, PFace> out(null_pface(), null_pface());
std::tie(out.first.second, out.second.second) =
support_plane(pvertex).faces(pvertex.second);
if (out.first.second != Face_index()) {
out.first.first = pvertex.first;
}
if (out.second.second != Face_index()) {
out.second.first = pvertex.first;
}
return out;
}
PFaces_around_pvertex pfaces_around_pvertex(const PVertex& pvertex) const {
const auto pfaces = PFaces_around_pvertex(
boost::make_transform_iterator(
halfedges_around_target(halfedge(pvertex.second, mesh(pvertex)), mesh(pvertex)).begin(),
Halfedge_to_pface(pvertex.first, mesh(pvertex))),
boost::make_transform_iterator(
halfedges_around_target(halfedge(pvertex.second, mesh(pvertex)), mesh(pvertex)).end(),
Halfedge_to_pface(pvertex.first, mesh(pvertex))));
CGAL_assertion(pfaces.size() >= 1);
return pfaces;
}
void non_null_pfaces_around_pvertex(
const PVertex& pvertex, std::vector<PFace>& pfaces) const {
pfaces.clear();
const auto nfaces = pfaces_around_pvertex(pvertex);
for (const auto pface : nfaces) {
if (pface.second == Support_plane::Mesh::null_face()) continue;
pfaces.push_back(pface);
}
}
PVertices_of_pface pvertices_of_pface(const PFace& pface) const {
const auto pvertices = PVertices_of_pface(
boost::make_transform_iterator(
halfedges_around_face(halfedge(pface.second, mesh(pface)), mesh(pface)).begin(),
Halfedge_to_pvertex(pface.first, mesh(pface))),
boost::make_transform_iterator(
halfedges_around_face(halfedge(pface.second, mesh(pface)), mesh(pface)).end(),
Halfedge_to_pvertex(pface.first, mesh(pface))));
CGAL_assertion(pvertices.size() >= 3);
return pvertices;
}
PEdges_of_pface pedges_of_pface(const PFace& pface) const {
const auto pedges = PEdges_of_pface(
boost::make_transform_iterator(
halfedges_around_face(halfedge(pface.second, mesh(pface)), mesh(pface)).begin(),
Halfedge_to_pedge(pface.first, mesh(pface))),
boost::make_transform_iterator(
halfedges_around_face(halfedge(pface.second, mesh(pface)), mesh(pface)).end(),
Halfedge_to_pedge(pface.first, mesh(pface))));
CGAL_assertion(pedges.size() >= 3);
return pedges;
}
PEdges_around_pvertex pedges_around_pvertex(const PVertex& pvertex) const {
const auto pedges = PEdges_around_pvertex(
boost::make_transform_iterator(
halfedges_around_target(halfedge(pvertex.second, mesh(pvertex)), mesh(pvertex)).begin(),
Halfedge_to_pedge(pvertex.first, mesh(pvertex))),
boost::make_transform_iterator(
halfedges_around_target(halfedge(pvertex.second, mesh(pvertex)), mesh(pvertex)).end(),
Halfedge_to_pedge(pvertex.first, mesh(pvertex))));
CGAL_assertion(pedges.size() >= 2);
return pedges;
}
std::vector<Volume_cell> incident_volumes(const PFace& query_pface) const {
std::vector<Volume_cell> nvolumes;
for (const auto& volume : m_volumes) {
for (const auto& pface : volume.pfaces) {
if (pface == query_pface) nvolumes.push_back(volume);
}
}
return nvolumes;
}
void incident_faces(const IEdge& query_iedge, std::vector<PFace>& nfaces) const {
nfaces.clear();
for (const auto plane_idx : intersected_planes(query_iedge)) {
for (const auto pedge : pedges(plane_idx)) {
if (iedge(pedge) == query_iedge) {
const auto& m = mesh(plane_idx);
const auto he = m.halfedge(pedge.second);
const auto op = m.opposite(he);
const auto face1 = m.face(he);
const auto face2 = m.face(op);
if (face1 != Support_plane::Mesh::null_face()) {
nfaces.push_back(PFace(plane_idx, face1));
}
if (face2 != Support_plane::Mesh::null_face()) {
nfaces.push_back(PFace(plane_idx, face2));
}
}
}
}
}
const std::vector<std::size_t>& input(const PFace& pface) const{ return support_plane(pface).input(pface.second); }
std::vector<std::size_t>& input(const PFace& pface) { return support_plane(pface).input(pface.second); }
const unsigned int& k(const std::size_t support_plane_idx) const { return support_plane(support_plane_idx).k(); }
unsigned int& k(const std::size_t support_plane_idx) { return support_plane(support_plane_idx).k(); }
const unsigned int& k(const PFace& pface) const { return support_plane(pface).k(pface.second); }
unsigned int& k(const PFace& pface) { return support_plane(pface).k(pface.second); }
bool is_frozen(const PVertex& pvertex) const { return support_plane(pvertex).is_frozen(pvertex.second); }
const Vector_2& direction(const PVertex& pvertex) const { return support_plane(pvertex).direction(pvertex.second); }
Vector_2& direction(const PVertex& pvertex) { return support_plane(pvertex).direction(pvertex.second); }
const FT speed(const PVertex& pvertex) { return support_plane(pvertex).speed(pvertex.second); }
bool is_active(const PVertex& pvertex) const { return support_plane(pvertex).is_active(pvertex.second); }
void deactivate(const PVertex& pvertex) {
support_plane(pvertex).set_active(pvertex.second, false);
if (iedge(pvertex) != null_iedge()) {
m_intersection_graph.is_active(iedge(pvertex)) = false;
}
// std::cout << str(pvertex) << " ";
if (ivertex(pvertex) != null_ivertex()) {
// std::cout << " ivertex: " << point_3(ivertex(pvertex));
m_intersection_graph.is_active(ivertex(pvertex)) = false;
}
// std::cout << std::endl;
}
void activate(const PVertex& pvertex) {
support_plane(pvertex).set_active(pvertex.second, true);
if (iedge(pvertex) != null_iedge()) {
m_intersection_graph.is_active(iedge(pvertex)) = true;
}
if (ivertex(pvertex) != null_ivertex()) {
m_intersection_graph.is_active(ivertex(pvertex)) = true;
}
}
/*******************************
** ISimplices **
********************************/
static IVertex null_ivertex() { return Intersection_graph::null_ivertex(); }
static IEdge null_iedge() { return Intersection_graph::null_iedge(); }
decltype(auto) ivertices() const { return m_intersection_graph.vertices(); }
decltype(auto) iedges() const { return m_intersection_graph.edges(); }
std::size_t nb_intersection_lines() const { return m_intersection_graph.nb_lines(); }
std::size_t line_idx(const IEdge& iedge) const { return m_intersection_graph.line(iedge); }
std::size_t line_idx(const PVertex& pvertex) const { return line_idx(iedge(pvertex)); }
const IVertex add_ivertex(const Point_3& point, const std::set<std::size_t>& support_planes_idx) {
std::vector<std::size_t> vec_planes;
std::copy(
support_planes_idx.begin(),
support_planes_idx.end(),
std::back_inserter(vec_planes));
const auto pair = m_intersection_graph.add_vertex(point, vec_planes);
const auto ivertex = pair.first;
return ivertex;
}
void add_iedge(const std::set<std::size_t>& support_planes_idx, std::vector<IVertex>& vertices) {
const auto source = m_intersection_graph.point_3(vertices.front());
std::sort(vertices.begin(), vertices.end(),
[&](const IVertex& a, const IVertex& b) -> bool {
const auto ap = m_intersection_graph.point_3(a);
const auto bp = m_intersection_graph.point_3(b);
const auto sq_dist_a = CGAL::squared_distance(source, ap);
const auto sq_dist_b = CGAL::squared_distance(source, bp);
return (sq_dist_a < sq_dist_b);
}
);
std::size_t line_idx = m_intersection_graph.add_line();
for (std::size_t i = 0; i < vertices.size() - 1; ++i) {
CGAL_assertion(!is_zero_length_iedge(vertices[i], vertices[i + 1]));
const auto pair = m_intersection_graph.add_edge(
vertices[i], vertices[i + 1], support_planes_idx);
const auto iedge = pair.first;
const auto is_inserted = pair.second;
CGAL_assertion(is_inserted);
m_intersection_graph.set_line(iedge, line_idx);
for (const auto support_plane_idx : support_planes_idx) {
support_plane(support_plane_idx).unique_iedges().insert(iedge);
}
}
}
const IVertex source(const IEdge& edge) const { return m_intersection_graph.source(edge); }
const IVertex target(const IEdge& edge) const { return m_intersection_graph.target(edge); }
const IVertex opposite(const IEdge& edge, const IVertex& ivertex) const {
const auto out = source(edge);
if (out == ivertex) {
return target(edge);
}
CGAL_assertion(target(edge) == ivertex);
return out;
}
decltype(auto) incident_iedges(const IVertex& ivertex) const {
return m_intersection_graph.incident_edges(ivertex);
}
const std::vector<IEdge>& iedges(const std::size_t support_plane_idx) const {
return support_plane(support_plane_idx).iedges();
}
std::vector<IEdge>& iedges(const std::size_t support_plane_idx) {
return support_plane(support_plane_idx).iedges();
}
const std::vector<Segment_2>& isegments(const std::size_t support_plane_idx) const {
return support_plane(support_plane_idx).isegments();
}
std::vector<Segment_2>& isegments(const std::size_t support_plane_idx) {
return support_plane(support_plane_idx).isegments();
}
const std::vector<Bbox_2>& ibboxes(const std::size_t support_plane_idx) const {
return support_plane(support_plane_idx).ibboxes();
}
std::vector<Bbox_2>& ibboxes(const std::size_t support_plane_idx) {
return support_plane(support_plane_idx).ibboxes();
}
const std::set<std::size_t>& intersected_planes(const IEdge& iedge) const {
return m_intersection_graph.intersected_planes(iedge);
}
const std::set<std::size_t> intersected_planes(
const IVertex& ivertex, const bool keep_bbox = true) const {
std::set<std::size_t> out;
for (const auto incident_iedge : incident_iedges(ivertex)) {
for (const auto support_plane_idx : intersected_planes(incident_iedge)) {
if (!keep_bbox && support_plane_idx < 6) {
continue;
}
out.insert(support_plane_idx);
}
}
return out;
}
bool is_zero_length_iedge(const IVertex& a, const IVertex& b) const {
const auto& p = m_intersection_graph.point_3(a);
const auto& q = m_intersection_graph.point_3(b);
const FT distance = KSR::distance(p, q);
const FT ptol = KSR::point_tolerance<FT>();
return distance < ptol;
}
bool is_iedge(const IVertex& source, const IVertex& target) const {
return m_intersection_graph.is_edge(source, target);
}
bool is_active(const IEdge& iedge) const {
return m_intersection_graph.is_active(iedge);
}
bool is_active(const IVertex& ivertex) const {
return m_intersection_graph.is_active(ivertex);
}
bool is_bbox_iedge(const IEdge& edge) const {
for (const auto support_plane_idx : m_intersection_graph.intersected_planes(edge)) {
if (support_plane_idx < 6) {
return true;
}
}
return false;
}
/*******************************
** STRINGS **
********************************/
inline const std::string str(const PVertex& pvertex) const {
return "PVertex(" + std::to_string(pvertex.first) + ":v" + std::to_string(pvertex.second) + ")";
}
inline const std::string str(const PEdge& pedge) const {
return "PEdge(" + std::to_string(pedge.first) + ":e" + std::to_string(pedge.second) + ")";
}
inline const std::string str(const PFace& pface) const {
return "PFace(" + std::to_string(pface.first) + ":f" + std::to_string(pface.second) + ")";
}
inline const std::string str(const IVertex& ivertex) const {
return "IVertex(" + std::to_string(ivertex) + ")";
}
inline const std::string str(const IEdge& iedge) const {
std::ostringstream oss; oss << "IEdge" << iedge; return oss.str();
}
inline const std::string lstr(const PFace& pface) const {
if (pface == null_pface()) {
return "PFace(null)";
}
std::string out = "PFace(" + std::to_string(pface.first) + ":f" + std::to_string(pface.second) + ")[";
for (const auto pvertex : pvertices_of_pface(pface)) {
out += "v" + std::to_string(pvertex.second);
}
out += "]";
return out;
}
inline const std::string lstr(const PEdge& pedge) const {
return "PEdge(" + std::to_string(pedge.first) + ":e" + std::to_string(pedge.second)
+ ")[v" + std::to_string(source(pedge).second) + "->v" + std::to_string(target(pedge).second) + "]";
}
/*******************************
** CONNECTIVITY **
********************************/
bool has_complete_graph(const PVertex& pvertex) const {
if (!has_ivertex(pvertex)) {
std::cout << "- disconnected pvertex: " << point_3(pvertex) << std::endl;
dump_2d_surface_mesh(*this, pvertex.first,
"iter-10000-surface-mesh-" + std::to_string(pvertex.first));
CGAL_assertion(has_ivertex(pvertex));
return false;
}
const auto pedges = pedges_around_pvertex(pvertex);
for (const auto pedge : pedges) {
if (!has_iedge(pedge)) {
std::cout << "- disconnected pedge: " << segment_3(pedge) << std::endl;
dump_2d_surface_mesh(*this, pvertex.first,
"iter-10000-surface-mesh-" + std::to_string(pvertex.first));
CGAL_assertion(has_iedge(pedge));
return false;
}
}
return true;
}
bool has_one_pface(const PVertex& pvertex) const {
std::vector<PFace> nfaces;
const auto pface = pface_of_pvertex(pvertex);
non_null_pfaces_around_pvertex(pvertex, nfaces);
CGAL_assertion(nfaces.size() == 1);
CGAL_assertion(nfaces[0] == pface);
return (nfaces.size() == 1 && nfaces[0] == pface);
}
bool is_sneaking_pedge(
const PVertex& pvertex, const PVertex& pother, const IEdge& iedge) const {
// Here, pvertex and pother must cross the same iedge.
// Otherwise, this check does not make any sense!
if (
is_occupied(pvertex, iedge).first ||
is_occupied(pother , iedge).first) {
CGAL_assertion_msg(false,
"ERROR: TWO PVERTICES SNEAK TO THE OTHER SIDE EVEN WHEN WE HAVE A POLYGON!");
return true;
}
return false;
}
bool must_be_swapped(
const Point_2& source_p, const Point_2& target_p,
const PVertex& pextra, const PVertex& pvertex, const PVertex& pother) const {
const Vector_2 current_direction = compute_future_direction(
source_p, target_p, pextra, pvertex, pother);
const Vector_2 iedge_direction(source_p, target_p);
const FT dot_product = current_direction * iedge_direction;
CGAL_assertion(dot_product < FT(0));
return (dot_product < FT(0));
}
bool has_ivertex(const PVertex& pvertex) const { return support_plane(pvertex).has_ivertex(pvertex.second); }
IVertex ivertex(const PVertex& pvertex) const { return support_plane(pvertex).ivertex(pvertex.second); }
bool has_iedge(const PVertex& pvertex) const { return support_plane(pvertex).has_iedge(pvertex.second); }
IEdge iedge(const PVertex& pvertex) const { return support_plane(pvertex).iedge(pvertex.second); }
bool has_iedge(const PEdge& pedge) const { return support_plane(pedge).has_iedge(pedge.second); }
IEdge iedge(const PEdge& pedge) const { return support_plane(pedge).iedge(pedge.second); }
bool has_pedge(
const std::size_t sp_idx, const IEdge& iedge) const {
for (const auto pedge : this->pedges(sp_idx)) {
if (this->iedge(pedge) == iedge) {
return true;
}
}
return false;
}
void connect(const PVertex& pvertex, const IVertex& ivertex) { support_plane(pvertex).set_ivertex(pvertex.second, ivertex); }
void connect(const PVertex& pvertex, const IEdge& iedge) { support_plane(pvertex).set_iedge(pvertex.second, iedge); }
void connect(const PVertex& pvertex, const PVertex& pother, const IEdge& iedge) { support_plane(pvertex).set_iedge(pvertex.second, pother.second, iedge); }
void connect(const PEdge& pedge, const IEdge& iedge) { support_plane(pedge).set_iedge(pedge.second, iedge); }
void connect_pedge(
const PVertex& pvertex, const PVertex& pother, const IEdge& iedge) {
const PEdge pedge(pvertex.first,
support_plane(pvertex).edge(pvertex.second, pother.second));
connect(pedge, iedge);
connect(pother, iedge);
}
IVertex disconnect_ivertex(const PVertex& pvertex) {
const auto ivertex = this->ivertex(pvertex);
support_plane(pvertex).set_ivertex(pvertex.second, null_ivertex());
return ivertex;
}
IEdge disconnect_iedge(const PVertex& pvertex) {
const auto iedge = this->iedge(pvertex);
support_plane(pvertex).set_iedge(pvertex.second, null_iedge());
return iedge;
}
struct Queue_element {
PVertex previous;
PVertex pvertex;
bool front;
bool previous_was_free;
Queue_element(
const PVertex& previous, const PVertex& pvertex,
const bool front, const bool previous_was_free) :
previous(previous), pvertex(pvertex),
front(front), previous_was_free(previous_was_free)
{ }
};
std::vector<PVertex> pvertices_around_ivertex(
const PVertex& pvertex, const IVertex& ivertex) const {
if (m_parameters.debug) {
std::cout.precision(20);
std::cout << "** searching pvertices around " << str(pvertex) << " wrt " << str(ivertex) << std::endl;
std::cout << "- pvertex: " << point_3(pvertex) << std::endl;
std::cout << "- ivertex: " << point_3(ivertex) << std::endl;
}
std::deque<PVertex> pvertices;
pvertices.push_back(pvertex);
if (m_parameters.debug) {
const auto iedge = this->iedge(pvertex);
if (iedge != null_iedge()) {
std::cout << "- came from: " << str(iedge) << " " << segment_3(iedge) << std::endl;
} else {
std::cout << "- came from: unconstrained setting" << std::endl;
}
}
PVertex prev, next;
std::queue<Queue_element> todo;
std::tie(prev, next) = border_prev_and_next(pvertex);
// std::cout << "prev in: " << str(prev) << " " << point_3(prev) << std::endl;
// std::cout << "next in: " << str(next) << " " << point_3(next) << std::endl;
// std::cout << "curr in: " << str(pvertex) << " " << point_3(pvertex) << std::endl;
todo.push(Queue_element(pvertex, prev, true, false));
todo.push(Queue_element(pvertex, next, false, false));
while (!todo.empty()) {
// std::cout << std::endl;
auto previous = todo.front().previous;
auto current = todo.front().pvertex;
bool front = todo.front().front;
bool previous_was_free = todo.front().previous_was_free;
todo.pop();
const auto iedge = this->iedge(current);
bool is_free = (iedge == null_iedge());
// std::cout << "is free 1: " << is_free << std::endl;
// if (!is_free) std::cout << "iedge: " << segment_3(iedge) << std::endl;
if (!is_free && source(iedge) != ivertex && target(iedge) != ivertex) {
// std::cout << "is free 2: " << is_free << std::endl;
is_free = true;
}
if (!is_free) {
auto other = source(iedge);
if (other == ivertex) { other = target(iedge); }
else { CGAL_assertion(target(iedge) == ivertex); }
// Filter backwards vertex.
const Vector_2 dir1 = direction(current);
// std::cout << "dir1: " << dir1 << std::endl;
const Vector_2 dir2(
point_2(current.first, other), point_2(current.first, ivertex));
// std::cout << "dir2: " << dir2 << std::endl;
const FT dot_product = dir1 * dir2;
// std::cout << "dot: " << dot_product << std::endl;
if (dot_product < FT(0)) {
if (m_parameters.debug) {
std::cout << "- " << str(current) << " is backwards" << std::endl;
// std::cout << point_3(current) << std::endl;
}
is_free = true;
}
if (is_frozen(current)) {
if (m_parameters.debug) {
std::cout << "- " << str(current) << " is frozen" << std::endl;
// std::cout << point_3(current) << std::endl;
}
is_free = true;
}
// std::cout << "is free 3: " << is_free << std::endl;
}
if (previous_was_free && is_free) {
if (m_parameters.debug) {
std::cout << "- " << str(current) << " has no iedge, stopping there" << std::endl;
// std::cout << point_3(current) << std::endl;
}
continue;
}
if (is_free) {
if (m_parameters.debug) {
std::cout << "- " << str(current) << " has no iedge" << std::endl;
// std::cout << point_3(current) << std::endl;
}
} else {
if (m_parameters.debug) {
std::cout << "- " << str(current) << " has iedge " << str(iedge)
<< " from " << str(source(iedge)) << " to " << str(target(iedge)) << std::endl;
// std::cout << segment_3(iedge) << std::endl;
// std::cout << point_3(current) << std::endl;
}
}
if (front) {
pvertices.push_front(current);
// std::cout << "pushed front" << std::endl;
} else {
pvertices.push_back(current);
// std::cout << "pushed back" << std::endl;
}
std::tie(prev, next) = border_prev_and_next(current);
if (prev == previous) {
CGAL_assertion(next != previous);
todo.push(Queue_element(current, next, front, is_free));
// std::cout << "pushed next" << std::endl;
} else {
todo.push(Queue_element(current, prev, front, is_free));
// std::cout << "pushed prev" << std::endl;
}
}
CGAL_assertion(todo.empty());
std::vector<PVertex> crossed_pvertices;
crossed_pvertices.reserve(pvertices.size());
std::copy(pvertices.begin(), pvertices.end(),
std::back_inserter(crossed_pvertices));
if (m_parameters.debug) {
std::cout << "- found " << crossed_pvertices.size() <<
" pvertices ready to be merged: " << std::endl;
for (const auto& crossed_pvertex : crossed_pvertices) {
std::cout << str(crossed_pvertex) << ": " << point_3(crossed_pvertex) << std::endl;
}
}
CGAL_assertion(crossed_pvertices.size() >= 3);
return crossed_pvertices;
}
/*******************************
** CONVERSIONS **
********************************/
Point_2 to_2d(const std::size_t support_plane_idx, const IVertex& ivertex) const {
return support_plane(support_plane_idx).to_2d(point_3(ivertex));
}
Segment_2 to_2d(const std::size_t support_plane_idx, const Segment_3& segment_3) const {
return support_plane(support_plane_idx).to_2d(segment_3);
}
Point_2 to_2d(const std::size_t support_plane_idx, const Point_3& point_3) const {
return support_plane(support_plane_idx).to_2d(point_3);
}
Point_2 point_2(const PVertex& pvertex, const FT time) const {
return support_plane(pvertex).point_2(pvertex.second, time);
}
Point_2 point_2(const PVertex& pvertex) const {
return point_2(pvertex, m_current_time);
}
Point_2 point_2(const std::size_t support_plane_idx, const IVertex& ivertex) const {
return support_plane(support_plane_idx).to_2d(point_3(ivertex));
}
Segment_2 segment_2(const std::size_t support_plane_idx, const IEdge& iedge) const {
return support_plane(support_plane_idx).to_2d(segment_3(iedge));
}
Point_3 to_3d(const std::size_t support_plane_idx, const Point_2& point_2) const {
return support_plane(support_plane_idx).to_3d(point_2);
}
Point_3 point_3(const PVertex& pvertex, const FT time) const {
return support_plane(pvertex).point_3(pvertex.second, time);
}
Point_3 point_3(const PVertex& pvertex) const {
return point_3(pvertex, m_current_time);
}
Point_3 point_3(const IVertex& vertex) const {
return m_intersection_graph.point_3(vertex);
}
Segment_3 segment_3(const PEdge& pedge, const FT time) const {
return support_plane(pedge).segment_3(pedge.second, time);
}
Segment_3 segment_3(const PEdge& pedge) const {
return segment_3 (pedge, m_current_time);
}
Segment_3 segment_3(const IEdge& edge) const {
return m_intersection_graph.segment_3(edge);
}
/*******************************
** PREDICATES **
********************************/
// TODO: ADD FUNCTION HAS_PEDGES() OR NUM_PEDGES() THAT RETURNS THE NUMBER OF PEDGES
// CONNECTED TO THE IEDGE. THAT WILL BE FASTER THAN CURRENT COMPUTATIONS!
// Check if there is a collision with another polygon.
std::pair<bool, bool> collision_occured (
const PVertex& pvertex, const IEdge& iedge) const {
bool collision = false;
for (const auto support_plane_idx : intersected_planes(iedge)) {
if (support_plane_idx < 6) {
return std::make_pair(true, true); // bbox plane
}
for (const auto pedge : pedges(support_plane_idx)) {
if (this->iedge(pedge) == iedge) {
const auto pedge_segment = Segment_3(point_3(source(pedge)), point_3(target(pedge)));
const Segment_3 source_to_pvertex(pedge_segment.source(), point_3(pvertex));
const FT dot_product = pedge_segment.to_vector() * source_to_pvertex.to_vector();
if (dot_product < FT(0)) {
continue;
}
CGAL_assertion(pedge_segment.squared_length() != FT(0));
if (source_to_pvertex.squared_length() <= pedge_segment.squared_length()) {
collision = true; break;
}
}
}
}
return std::make_pair(collision, false);
}
std::pair<bool, bool> is_occupied(
const PVertex& pvertex, const IVertex& ivertex, const IEdge& query_iedge) const {
const auto pair = is_occupied(pvertex, query_iedge);
const bool has_polygon = pair.first;
const bool is_bbox_reached = pair.second;
if (is_bbox_reached) return std::make_pair(true, true);
CGAL_assertion(!is_bbox_reached);
if (!has_polygon) {
// std::cout << "NO POLYGON DETECTED" << std::endl;
return std::make_pair(false, false);
}
CGAL_assertion(has_polygon);
CGAL_assertion(ivertex != null_ivertex());
std::set<PEdge> pedges;
get_occupied_pedges(pvertex, query_iedge, pedges);
for (const auto& pedge : pedges) {
CGAL_assertion(pedge != null_pedge());
// std::cout << "PEDGE: " << segment_3(pedge) << std::endl;
const auto source = this->source(pedge);
const auto target = this->target(pedge);
if (this->ivertex(source) == ivertex || this->ivertex(target) == ivertex) {
return std::make_pair(true, false);
}
}
return std::make_pair(false, false);
}
void get_occupied_pedges(
const PVertex& pvertex, const IEdge& query_iedge, std::set<PEdge>& pedges) const {
for (const auto plane_idx : intersected_planes(query_iedge)) {
if (plane_idx == pvertex.first) continue; // current plane
if (plane_idx < 6) continue; // bbox plane
for (const auto pedge : this->pedges(plane_idx)) {
if (iedge(pedge) == query_iedge) {
pedges.insert(pedge);
}
}
}
}
std::pair<bool, bool> is_occupied(
const PVertex& pvertex, const IEdge& query_iedge) const {
CGAL_assertion(query_iedge != null_iedge());
// std::cout << str(query_iedge) << ": " << segment_3(query_iedge) << std::endl;
std::size_t num_adjacent_faces = 0;
for (const auto plane_idx : intersected_planes(query_iedge)) {
if (plane_idx == pvertex.first) continue; // current plane
if (plane_idx < 6) return std::make_pair(true, true); // bbox plane
for (const auto pedge : pedges(plane_idx)) {
if (!has_iedge(pedge)) continue;
// std::cout << str(iedge(pedge)) << std::endl;
if (iedge(pedge) == query_iedge) {
const auto& m = mesh(plane_idx);
const auto he = m.halfedge(pedge.second);
const auto op = m.opposite(he);
const auto face1 = m.face(he);
const auto face2 = m.face(op);
if (face1 != Support_plane::Mesh::null_face()) ++num_adjacent_faces;
if (face2 != Support_plane::Mesh::null_face()) ++num_adjacent_faces;
}
}
}
// std::cout << "num adjacent faces: " << num_adjacent_faces << std::endl;
if (num_adjacent_faces <= 1)
return std::make_pair(false, false);
return std::make_pair(true, false);
}
bool update_limit_lines_and_k(
const PVertex& pvertex, const IEdge& iedge, const bool is_occupied_iedge) {
const std::size_t sp_idx_1 = pvertex.first;
std::size_t sp_idx_2 = KSR::no_element();
const auto intersected_planes = this->intersected_planes(iedge);
for (const auto plane_idx : intersected_planes) {
if (plane_idx == sp_idx_1) continue; // current plane
if (plane_idx < 6) return true;
sp_idx_2 = plane_idx;
break;
}
CGAL_assertion(sp_idx_2 != KSR::no_element());
CGAL_assertion(sp_idx_1 >= 6 && sp_idx_2 >= 6);
CGAL_assertion(m_limit_lines.size() == nb_intersection_lines());
bool is_limit_line = false;
const std::size_t line_idx = this->line_idx(iedge);
CGAL_assertion(line_idx != KSR::no_element());
CGAL_assertion(line_idx < m_limit_lines.size());
auto& pairs = m_limit_lines[line_idx];
CGAL_assertion_msg(pairs.size() <= 2,
"TODO: CAN WE HAVE MORE THAN TWO PLANES INTERSECTED ALONG THE SAME LINE?");
for (const auto& item : pairs) {
const auto& pair = item.first;
const bool is_ok_1 = (pair.first == sp_idx_1);
const bool is_ok_2 = (pair.second == sp_idx_2);
if (is_ok_1 && is_ok_2) {
is_limit_line = item.second;
if (m_parameters.debug) std::cout << "- found intersection " << std::endl;
return is_limit_line;
}
}
if (m_parameters.debug) {
std::cout << "- first time intersection" << std::endl;
std::cout << "- adding pair: " << std::to_string(sp_idx_1) << "-" << std::to_string(sp_idx_2);
}
CGAL_assertion(pairs.size() < 2);
if (is_occupied_iedge) {
if (this->k(pvertex.first) == 1) {
if (m_parameters.debug) std::cout << ", occupied, TRUE" << std::endl;
is_limit_line = true;
pairs.push_back(std::make_pair(std::make_pair(sp_idx_1, sp_idx_2), is_limit_line));
} else {
if (m_parameters.debug) std::cout << ", occupied, FALSE" << std::endl;
is_limit_line = false;
pairs.push_back(std::make_pair(std::make_pair(sp_idx_1, sp_idx_2), is_limit_line));
this->k(pvertex.first)--;
}
} else {
if (m_parameters.debug) std::cout << ", free, FALSE" << std::endl;
is_limit_line = false;
pairs.push_back(std::make_pair(std::make_pair(sp_idx_1, sp_idx_2), is_limit_line));
}
CGAL_assertion(pairs.size() <= 2);
CGAL_assertion(this->k(pvertex.first) >= 1);
// CGAL_assertion_msg(false, "TODO: IS LIMIT LINE!");
return is_limit_line;
}
/*******************************
** CHECKING PROPERTIES **
********************************/
bool is_reversed_direction(
const std::size_t sp_idx,
const Point_2& p1, const Point_2& q1,
const IVertex& ivertex, const IEdge& iedge) const {
if (ivertex == IVertex()) return false;
CGAL_assertion(p1 != q1);
const Vector_2 vec1(p1, q1);
const auto overtex = opposite(iedge, ivertex);
const auto p2 = point_2(sp_idx, ivertex);
const auto q2 = point_2(sp_idx, overtex);
CGAL_assertion(p2 != q2);
const Vector_2 vec2(p2, q2);
const FT vec_dot = vec1 * vec2;
const bool is_reversed = (vec_dot < FT(0));
if (is_reversed && m_parameters.debug) {
std::cout << "- found reversed future direction" << std::endl;
}
return is_reversed;
}
bool is_correctly_oriented(
const std::size_t sp_idx, const Vector_2& direction,
const IVertex& ivertex, const IEdge& iedge) const {
CGAL_assertion(direction.squared_length() != FT(0));
const auto overtex = opposite(iedge, ivertex);
const Vector_2 ref_direction(
point_2(sp_idx, ivertex), point_2(sp_idx, overtex));
const FT vec_dot = direction * ref_direction;
return (vec_dot >= FT(0));
}
template<typename Pair>
bool is_valid_polygon(
const std::size_t sp_idx,
const std::vector<Pair>& points) const {
std::vector< std::pair<Point_2, bool> > polygon;
polygon.reserve(points.size());
for (const auto& pair : points) {
const auto& p = pair.first;
const auto q = to_2d(sp_idx, p);
polygon.push_back(std::make_pair(q, true));
}
CGAL_assertion(polygon.size() == points.size());
// const bool is_simple = support_plane(sp_idx).is_simple_polygon(polygon);
// const bool is_convex = support_plane(sp_idx).is_convex_polygon(polygon);
const bool is_valid = support_plane(sp_idx).is_valid_polygon(polygon);
if (!is_valid) {
for (const auto& pair : polygon) {
std::cout << to_3d(sp_idx, pair.first) << std::endl;
}
}
// CGAL_assertion_msg(is_simple, "ERROR: POLYGON IS NOT SIMPLE!");
// CGAL_assertion_msg(is_convex, "ERROR: POLYGON IS NOT CONVEX!");
CGAL_assertion_msg(is_valid, "ERROR: POLYGON IS NOT VALID!");
return is_valid;
}
bool check_bbox() const {
for (std::size_t i = 0; i < 6; ++i) {
const auto pfaces = this->pfaces(i);
for (const auto pface : pfaces) {
for (const auto pvertex : pvertices_of_pface(pface)) {
if (!has_ivertex(pvertex)) {
std::cout << "debug pvertex: " << str(pvertex) << ", " << point_3(pvertex) << std::endl;
CGAL_assertion_msg(has_ivertex(pvertex), "ERROR: BBOX VERTEX IS MISSING AN IVERTEX!");
return false;
}
}
for (const auto pedge : pedges_of_pface(pface)) {
if (!has_iedge(pedge)) {
std::cout << "debug pedge: " << str(pedge) << ", " << segment_3(pedge) << std::endl;
CGAL_assertion_msg(has_iedge(pedge), "ERROR: BBOX EDGE IS MISSING AN IEDGE!");
return false;
}
}
}
}
return true;
}
bool check_interior() const {
for (std::size_t i = 6; i < number_of_support_planes(); ++i) {
const auto pfaces = this->pfaces(i);
for (const auto pface : pfaces) {
for (const auto pvertex : pvertices_of_pface(pface)) {
if (!has_ivertex(pvertex)) {
std::cout << "debug pvertex: " << str(pvertex) << ", " << point_3(pvertex) << std::endl;
CGAL_assertion_msg(has_ivertex(pvertex), "ERROR: INTERIOR VERTEX IS MISSING AN IVERTEX!");
return false;
}
}
for (const auto pedge : pedges_of_pface(pface)) {
if (!has_iedge(pedge)) {
std::cout << "debug pedge: " << str(pedge) << ", " << segment_3(pedge) << std::endl;
CGAL_assertion_msg(has_iedge(pedge), "ERROR: INTERIOR EDGE IS MISSING AN IEDGE!");
return false;
}
}
}
}
return true;
}
bool check_vertices() const {
for (const auto vertex : m_intersection_graph.vertices()) {
const auto nedges = m_intersection_graph.incident_edges(vertex);
if (nedges.size() <= 2) {
std::cout << "ERROR: CURRENT NUMBER OF EDGES = " << nedges.size() << std::endl;
CGAL_assertion_msg(nedges.size() > 2,
"ERROR: VERTEX MUST HAVE AT LEAST 3 NEIGHBORS!");
return false;
}
}
return true;
}
bool check_edges() const {
std::vector<PFace> nfaces;
for (const auto edge : m_intersection_graph.edges()) {
incident_faces(edge, nfaces);
if (nfaces.size() == 1) {
std::cout << "ERROR: CURRENT NUMBER OF FACES = " << nfaces.size() << std::endl;
CGAL_assertion_msg(nfaces.size() != 1,
"ERROR: EDGE MUST HAVE 0 OR AT LEAST 2 NEIGHBORS!");
return false;
}
}
return true;
}
bool check_faces() const {
for (std::size_t i = 0; i < number_of_support_planes(); ++i) {
const auto pfaces = this->pfaces(i);
for (const auto pface : pfaces) {
const auto nvolumes = incident_volumes(pface);
if (nvolumes.size() == 0 || nvolumes.size() > 2) {
std::cout << "ERROR: CURRENT NUMBER OF VOLUMES = " << nvolumes.size() << std::endl;
CGAL_assertion_msg(nvolumes.size() == 1 || nvolumes.size() == 2,
"ERROR: FACE MUST HAVE 1 OR 2 NEIGHBORS!");
return false;
}
}
}
return true;
}
bool check_intersection_graph() const {
std::cout.precision(20);
const FT ptol = KSR::point_tolerance<FT>();
const auto iedges = m_intersection_graph.edges();
for (const auto iedge : iedges) {
const auto isource = source(iedge);
const auto itarget = target(iedge);
const auto source_p = point_3(isource);
const auto target_p = point_3(itarget);
const FT distance = KSR::distance(source_p, target_p);
if (distance < ptol) {
std::cout << "ERROR: FOUND ZERO-LENGTH IEDGE: "
<< str(iedge) << ", " << distance << ", " << segment_3(iedge) << std::endl;
CGAL_assertion_msg(distance >= ptol,
"ERROR: INTERSECTION GRAPH HAS ZERO-LENGTH IEDGES!");
return false;
}
}
return true;
}
bool is_mesh_valid(
const bool check_simplicity,
const bool check_convexity,
const std::size_t support_plane_idx) const {
const bool is_valid = mesh(support_plane_idx).is_valid();
if (!is_valid) {
return false;
}
// Note: bbox faces may have multiple equal points after converting from exact to inexact!
if (support_plane_idx < 6) {
return true;
}
const auto pfaces = this->pfaces(support_plane_idx);
for (const auto pface : pfaces) {
std::function<Point_2(PVertex)> unary_f =
[&](const PVertex& pvertex) -> Point_2 {
return point_2(pvertex);
};
const auto pvertices = pvertices_of_pface(pface);
const Polygon_2 polygon(
boost::make_transform_iterator(pvertices.begin(), unary_f),
boost::make_transform_iterator(pvertices.end(), unary_f));
// Use only with an exact kernel!
if (check_simplicity && !polygon.is_simple()) {
dump_polygon(*this, support_plane_idx, polygon, "non-simple-polygon");
const std::string msg = "ERROR: PFACE " + str(pface) + " IS NOT SIMPLE!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
// Use only with an exact kernel!
if (check_convexity && !polygon.is_convex()) {
dump_polygon(*this, support_plane_idx, polygon, "non-convex-polygon");
const std::string msg = "ERROR: PFACE " + str(pface) + " IS NOT CONVEX!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
auto prev = null_pvertex();
for (const auto pvertex : pvertices) {
if (prev == null_pvertex()) {
prev = pvertex;
continue;
}
if (point_2(prev) == point_2(pvertex) &&
direction(prev) == direction(pvertex)) {
const std::string msg = "ERROR: PFACE " + str(pface) +
" HAS TWO CONSEQUENT IDENTICAL VERTICES "
+ str(prev) + " AND " + str(pvertex) + "!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
prev = pvertex;
}
}
return true;
}
bool check_integrity(
const bool is_initialized = true,
const bool check_simplicity = false,
const bool check_convexity = false) const {
for (std::size_t i = 0; i < number_of_support_planes(); ++i) {
if (!is_mesh_valid(check_simplicity, check_convexity, i)) {
const std::string msg = "ERROR: MESH " + std::to_string(i) + " IS NOT VALID!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
if (is_initialized) {
const auto& iedges = this->iedges(i);
CGAL_assertion(iedges.size() > 0);
for (const auto& iedge : iedges) {
const auto& iplanes = this->intersected_planes(iedge);
if (iplanes.find(i) == iplanes.end()) {
const std::string msg = "ERROR: SUPPORT PLANE " + std::to_string(i) +
" IS INTERSECTED BY " + str(iedge) +
" BUT IT CLAIMS IT DOES NOT INTERSECT IT!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
}
} else {
const auto& iedges = support_plane(i).unique_iedges();
CGAL_assertion(iedges.size() > 0);
for (const auto& iedge : iedges) {
const auto& iplanes = this->intersected_planes(iedge);
if (iplanes.find(i) == iplanes.end()) {
const std::string msg = "ERROR: SUPPORT PLANE " + std::to_string(i) +
" IS INTERSECTED BY " + str(iedge) +
" BUT IT CLAIMS IT DOES NOT INTERSECT IT!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
}
}
}
for (const auto iedge : this->iedges()) {
const auto& iplanes = this->intersected_planes(iedge);
for (const auto support_plane_idx : iplanes) {
if (is_initialized) {
const auto& sp_iedges = this->iedges(support_plane_idx);
CGAL_assertion(sp_iedges.size() > 0);
if (std::find(sp_iedges.begin(), sp_iedges.end(), iedge) == sp_iedges.end()) {
const std::string msg = "ERROR: IEDGE " + str(iedge) +
" INTERSECTS SUPPORT PLANE " + std::to_string(support_plane_idx) +
" BUT IT CLAIMS IT IS NOT INTERSECTED BY IT!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
} else {
const auto& sp_iedges = support_plane(support_plane_idx).unique_iedges();
CGAL_assertion(sp_iedges.size() > 0);
if (sp_iedges.find(iedge) == sp_iedges.end()) {
const std::string msg = "ERROR: IEDGE " + str(iedge) +
" INTERSECTS SUPPORT PLANE " + std::to_string(support_plane_idx) +
" BUT IT CLAIMS IT IS NOT INTERSECTED BY IT!";
CGAL_assertion_msg(false, msg.c_str());
return false;
}
}
}
}
return true;
}
bool check_volume(
const int volume_index,
const std::size_t volume_size,
const std::map<PFace, std::pair<int, int> >& map_volumes) const {
std::vector<PFace> pfaces;
for (const auto& item : map_volumes) {
const auto& pface = item.first;
const auto& pair = item.second;
if (pair.first == volume_index || pair.second == volume_index) {
pfaces.push_back(pface);
}
}
const bool is_broken_volume = is_volume_degenerate(pfaces);
if (is_broken_volume) {
dump_volume(*this, pfaces, "volumes/degenerate");
}
CGAL_assertion(!is_broken_volume);
if (is_broken_volume) return false;
CGAL_assertion(pfaces.size() == volume_size);
if (pfaces.size() != volume_size) return false;
return true;
}
bool is_volume_degenerate(
const std::vector<PFace>& pfaces) const {
for (const auto& pface : pfaces) {
const auto pedges = pedges_of_pface(pface);
const std::size_t n = pedges.size();
std::size_t count = 0;
for (const auto pedge : pedges) {
CGAL_assertion(has_iedge(pedge));
const auto iedge = this->iedge(pedge);
const std::size_t num_found = find_adjacent_pfaces(pface, iedge, pfaces);
if (num_found == 1) ++count;
}
if (count != n) {
std::cout << "- current number of neighbors " << count << " != " << n << std::endl;
dump_info(*this, pface, *pedges.begin(), pfaces);
return true;
}
}
return false;
}
std::size_t find_adjacent_pfaces(
const PFace& current,
const IEdge& query,
const std::vector<PFace>& pfaces) const {
std::size_t num_found = 0;
for (const auto& pface : pfaces) {
if (pface == current) continue;
const auto pedges = pedges_of_pface(pface);
for (const auto pedge : pedges) {
CGAL_assertion(has_iedge(pedge));
const auto iedge = this->iedge(pedge);
if (iedge == query) ++num_found;
}
}
return num_found;
}
/*************************************
** FUTURE POINTS AND DIRECTIONS **
*************************************/
std::pair<bool, bool> compute_future_points_and_directions(
const PVertex& pvertex, const IVertex& ivertex, const IEdge& iedge,
Point_2& future_point_a, Point_2& future_point_b,
Vector_2& future_direction_a, Vector_2& future_direction_b) const {
bool is_parallel_prev = false;
bool is_parallel_next = false;
const std::size_t sp_idx = pvertex.first;
const auto source_p = point_2(sp_idx, source(iedge));
const auto target_p = point_2(sp_idx, target(iedge));
CGAL_assertion_msg(KSR::distance(source_p, target_p) >= KSR::point_tolerance<FT>(),
"TODO: COMPUTE FUTURE POINTS AND DIRECTIONS, HANDLE ZERO-LENGTH IEDGE!");
const Vector_2 iedge_vec(source_p, target_p);
const Line_2 iedge_line(source_p, target_p);
// std::cout << "iedge segment: " << segment_3(iedge) << std::endl;
const auto& curr = pvertex;
const auto curr_p = point_2(curr);
const Point_2 pinit = iedge_line.projection(curr_p);
// std::cout << "pinit: " << to_3d(sp_idx, pinit) << std::endl;
const PVertex prev(sp_idx, support_plane(sp_idx).prev(curr.second));
const PVertex next(sp_idx, support_plane(sp_idx).next(curr.second));
const auto prev_p = point_2(prev);
const auto next_p = point_2(next);
// std::cout << "prev p: " << point_3(prev) << std::endl;
// std::cout << "next p: " << point_3(next) << std::endl;
// std::cout << "curr p: " << point_3(curr) << std::endl;
CGAL_assertion(direction(prev) != CGAL::NULL_VECTOR);
CGAL_assertion(direction(next) != CGAL::NULL_VECTOR);
CGAL_assertion(direction(curr) != CGAL::NULL_VECTOR);
// std::cout << "dir prev: " << direction(prev) << std::endl;
// std::cout << "dir next: " << direction(next) << std::endl;
// std::cout << "dir curr: " << direction(curr) << std::endl;
const auto prev_f = point_2(prev, m_current_time + FT(1));
const auto next_f = point_2(next, m_current_time + FT(1));
const auto curr_f = point_2(curr, m_current_time + FT(1));
// std::cout << "prev future: " << point_3(prev, m_current_time + FT(1)) << std::endl;
// std::cout << "next future: " << point_3(next, m_current_time + FT(1)) << std::endl;
// std::cout << "curr future: " << point_3(curr, m_current_time + FT(1)) << std::endl;
const FT tol = KSR::tolerance<FT>();
// std::cout << "tol: " << tol << std::endl;
FT m1 = FT(100000), m2 = FT(100000), m3 = FT(100000);
const Line_2 future_line_prev(prev_f, curr_f);
const Line_2 future_line_next(next_f, curr_f);
const Vector_2 current_vec_prev(prev_p, curr_p);
const Vector_2 current_vec_next(next_p, curr_p);
const FT prev_d = (curr_p.x() - prev_p.x());
const FT next_d = (curr_p.x() - next_p.x());
const FT edge_d = (target_p.x() - source_p.x());
// std::cout << "prev_d: " << prev_d << std::endl;
// std::cout << "next_d: " << next_d << std::endl;
// std::cout << "edge_d: " << edge_d << std::endl;
// std::cout << "prev diff_d: " << CGAL::abs(
// CGAL::abs(prev_d) - CGAL::abs(edge_d)) << std::endl;
// std::cout << "next diff_d: " << CGAL::abs(
// CGAL::abs(next_d) - CGAL::abs(edge_d)) << std::endl;
if (CGAL::abs(prev_d) > tol)
m1 = (curr_p.y() - prev_p.y()) / prev_d;
if (CGAL::abs(next_d) > tol)
m2 = (curr_p.y() - next_p.y()) / next_d;
if (CGAL::abs(edge_d) > tol)
m3 = (target_p.y() - source_p.y()) / edge_d;
// std::cout << "m1: " << m1 << std::endl;
// std::cout << "m2: " << m2 << std::endl;
// std::cout << "m3: " << m3 << std::endl;
// std::cout << "m1 - m3 a: " << CGAL::abs(m1 - m3) << std::endl;
// std::cout << "m2 - m3 b: " << CGAL::abs(m2 - m3) << std::endl;
bool is_reversed = false;
if (CGAL::abs(m1 - m3) >= tol) {
if (m_parameters.debug) std::cout << "- prev intersected lines" << std::endl;
const bool is_a_found = KSR::intersection(
future_line_prev, iedge_line, future_point_a);
if (!is_a_found) {
std::cout << "WARNING: A IS NOT FOUND!" << std::endl;
future_point_b = pinit + (pinit - future_point_a);
CGAL_assertion_msg(false, "TODO: CAN WE EVER BE HERE? WHY?");
}
if (m_parameters.debug) {
std::cout << "- intersected point: " << to_3d(sp_idx, future_point_a) << std::endl;
}
// If reversed, we are most-likely in the parallel case and an intersection point
// is wrongly computed. This can happen even when we are bigger than tolerance.
// This should not happen here, I guess. If happens, we should find different
// solution or modify this solution.
is_reversed = is_reversed_direction(
sp_idx, pinit, future_point_a, ivertex, iedge);
CGAL_assertion(!is_reversed);
}
if (CGAL::abs(m1 - m3) < tol || is_reversed) {
if (m_parameters.debug) std::cout << "- prev parallel lines" << std::endl;
is_parallel_prev = true;
// Here, in the dot product, we can have maximum 1 zero-length vector.
const FT prev_dot = current_vec_prev * iedge_vec;
if (prev_dot < FT(0)) {
if (m_parameters.debug) std::cout << "- prev moves backwards" << std::endl;
future_point_a = target_p;
// std::cout << point_3(target(iedge)) << std::endl;
} else {
if (m_parameters.debug) std::cout << "- prev moves forwards" << std::endl;
future_point_a = source_p;
// std::cout << point_3(source(iedge)) << std::endl;
}
}
CGAL_assertion(pinit != future_point_a);
future_direction_a = Vector_2(pinit, future_point_a);
CGAL_assertion(future_direction_a != Vector_2());
future_point_a = pinit - m_current_time * future_direction_a;
if (m_parameters.debug) {
auto tmp_a = future_direction_a;
tmp_a = KSR::normalize(tmp_a);
std::cout << "- prev future point a: " <<
to_3d(curr.first, pinit + m_current_time * tmp_a) << std::endl;
std::cout << "- prev future direction a: " << future_direction_a << std::endl;
}
is_reversed = false;
if (CGAL::abs(m2 - m3) >= tol) {
if (m_parameters.debug) std::cout << "- next intersected lines" << std::endl;
const bool is_b_found = KSR::intersection(
future_line_next, iedge_line, future_point_b);
if (!is_b_found) {
std::cout << "WARNING: B IS NOT FOUND!" << std::endl;
future_point_a = pinit + (pinit - future_point_b);
CGAL_assertion_msg(false, "TODO: CAN WE EVER BE HERE? WHY?");
}
if (m_parameters.debug) {
std::cout << "- intersected point: " << to_3d(sp_idx, future_point_b) << std::endl;
}
// If reversed, we are most-likely in the parallel case and an intersection point
// is wrongly computed. This can happen even when we are bigger than tolerance.
// This should not happen here, I guess. If happens, we should find different
// solution or modify this solution.
is_reversed = is_reversed_direction(
sp_idx, pinit, future_point_b, ivertex, iedge);
CGAL_assertion(!is_reversed);
}
if (CGAL::abs(m2 - m3) < tol || is_reversed) {
if (m_parameters.debug) std::cout << "- next parallel lines" << std::endl;
is_parallel_next = true;
// Here, in the dot product, we can have maximum 1 zero-length vector.
const FT next_dot = current_vec_next * iedge_vec;
if (next_dot < FT(0)) {
if (m_parameters.debug) std::cout << "- next moves backwards" << std::endl;
future_point_b = target_p;
// std::cout << point_3(target(iedge)) << std::endl;
} else {
if (m_parameters.debug) std::cout << "- next moves forwards" << std::endl;
future_point_b = source_p;
// std::cout << point_3(source(iedge)) << std::endl;
}
}
CGAL_assertion(pinit != future_point_b);
future_direction_b = Vector_2(pinit, future_point_b);
CGAL_assertion(future_direction_b != Vector_2());
future_point_b = pinit - m_current_time * future_direction_b;
if (m_parameters.debug) {
auto tmp_b = future_direction_b;
tmp_b = KSR::normalize(tmp_b);
std::cout << "- next future point b: " <<
to_3d(curr.first, pinit + m_current_time * tmp_b) << std::endl;
std::cout << "- next future direction b: " << future_direction_b << std::endl;
}
return std::make_pair(is_parallel_prev, is_parallel_next);
}
bool compute_future_point_and_direction(
const std::size_t /* idx */, const IVertex& ivertex,
const std::pair<Point_2, Vector_2>& pvertex, const PVertex& pother, // back prev // front next
const IEdge& iedge, Point_2& future_point, Vector_2& future_direction) const {
const std::size_t sp_idx = pother.first;
const auto& next = pother;
const auto& curr = pvertex;
const auto next_p = point_2(next);
const auto curr_p = curr.first + m_current_time * curr.second;
// std::cout << "next p: " << point_3(next) << std::endl;
// std::cout << "curr p: " << to_3d(sp_idx, curr_p) << std::endl;
CGAL_assertion(direction(next) != CGAL::NULL_VECTOR);
CGAL_assertion(curr.second != CGAL::NULL_VECTOR);
// std::cout << "dir next: " << direction(next) << std::endl;
// std::cout << "dir curr: " << curr.second << std::endl;
const auto next_f = point_2(next, m_current_time + FT(1));
const auto curr_f = curr.first + (m_current_time + FT(1)) * curr.second;
// std::cout << "next future: " << point_3(next, m_current_time + FT(1)) << std::endl;
// std::cout << "curr future: " << to_3d(sp_idx, curr_f) << std::endl;
return compute_future_point_and_direction(
ivertex, sp_idx, next_p, curr_p, next_f, curr_f,
iedge, future_point, future_direction);
}
bool compute_future_point_and_direction(
const std::size_t /* idx */, const IVertex& ivertex,
const PVertex& pvertex, const PVertex& pother, // back prev // front next
const IEdge& iedge, Point_2& future_point, Vector_2& future_direction) const {
const std::size_t sp_idx = pother.first;
const auto& next = pother;
const auto& curr = pvertex;
const auto next_p = point_2(next);
const auto curr_p = point_2(curr);
// std::cout << "next p: " << point_3(next) << std::endl;
// std::cout << "curr p: " << point_3(curr) << std::endl;
CGAL_assertion(direction(next) != CGAL::NULL_VECTOR);
CGAL_assertion(direction(curr) != CGAL::NULL_VECTOR);
// std::cout << "dir next: " << direction(next) << std::endl;
// std::cout << "dir curr: " << direction(curr) << std::endl;
const auto next_f = point_2(next, m_current_time + FT(1));
const auto curr_f = point_2(curr, m_current_time + FT(1));
// std::cout << "next future: " << point_3(next, m_current_time + FT(1)) << std::endl;
// std::cout << "curr future: " << point_3(curr, m_current_time + FT(1)) << std::endl;
return compute_future_point_and_direction(
ivertex, sp_idx, next_p, curr_p, next_f, curr_f,
iedge, future_point, future_direction);
}
bool compute_future_point_and_direction(
const IVertex& ivertex, const std::size_t sp_idx,
const Point_2& next_p, const Point_2& curr_p, // time 1 points
const Point_2& next_f, const Point_2& curr_f, // time 2 points / future points
const IEdge& iedge, Point_2& future_point, Vector_2& future_direction) const {
bool is_parallel = false;
const auto source_p = point_2(sp_idx, source(iedge));
const auto target_p = point_2(sp_idx, target(iedge));
CGAL_assertion_msg(KSR::distance(source_p, target_p) >= KSR::point_tolerance<FT>(),
"TODO: COMPUTE FUTURE POINT AND DIRECTION BACK/FRONT, HANDLE ZERO-LENGTH IEDGE!");
const Vector_2 iedge_vec(source_p, target_p);
const Line_2 iedge_line(source_p, target_p);
// std::cout << "iedge segment: " << segment_3(iedge) << std::endl;
const Point_2 pinit = iedge_line.projection(curr_p);
// std::cout << "pinit: " << to_3d(sp_idx, pinit) << std::endl;
const FT tol = KSR::tolerance<FT>();
// std::cout << "tol: " << tol << std::endl;
FT m2 = FT(100000), m3 = FT(100000);
const Line_2 future_line_next(next_f, curr_f);
const Vector_2 current_vec_next(next_p, curr_p);
const FT next_d = (curr_p.x() - next_p.x());
const FT edge_d = (target_p.x() - source_p.x());
// std::cout << "next_d: " << next_d << std::endl;
// std::cout << "edge_d: " << edge_d << std::endl;
// std::cout << "next diff_d: " << CGAL::abs(
// CGAL::abs(next_d) - CGAL::abs(edge_d)) << std::endl;
if (CGAL::abs(next_d) > tol)
m2 = (curr_p.y() - next_p.y()) / next_d;
if (CGAL::abs(edge_d) > tol)
m3 = (target_p.y() - source_p.y()) / edge_d;
// std::cout << "m2: " << m2 << std::endl;
// std::cout << "m3: " << m3 << std::endl;
// std::cout << "m2 - m3: " << CGAL::abs(m2 - m3) << std::endl;
bool is_reversed = false;
if (CGAL::abs(m2 - m3) >= tol) {
if (m_parameters.debug) std::cout << "- back/front intersected lines" << std::endl;
future_point = KSR::intersection<Point_2>(future_line_next, iedge_line);
if (m_parameters.debug) {
std::cout << "- intersected point: " << to_3d(sp_idx, future_point) << std::endl;
}
// If reversed, we are most-likely in the parallel case and an intersection point
// is wrongly computed. This can happen even when we are bigger than tolerance.
is_reversed = is_reversed_direction(
sp_idx, pinit, future_point, ivertex, iedge);
}
const FT back_front_distance = KSR::distance(pinit, future_point);
if (m_parameters.debug) std::cout << "- back/front distance: " << back_front_distance << std::endl;
CGAL_assertion(back_front_distance >= FT(0));
// It can still miss this tolerance and then we enter parallel case and fail!
const FT reversed_tol = tol * FT(1000);
if (is_reversed && back_front_distance < reversed_tol) {
is_reversed = false;
if (m_parameters.debug) std::cout << "- back/front reversed, imprecise computation" << std::endl;
CGAL_assertion_msg(false, "TODO: BACK/FRONT HANDLE REVERSED CASE!");
}
if (CGAL::abs(m2 - m3) < tol || is_reversed) {
if (m_parameters.debug) std::cout << "- back/front parallel lines" << std::endl;
is_parallel = true;
// Here, in the dot product, we can have maximum 1 zero-length vector.
const FT next_dot = current_vec_next * iedge_vec;
if (next_dot < FT(0)) {
if (m_parameters.debug) std::cout << "- back/front moves backwards" << std::endl;
future_point = target_p;
// std::cout << point_3(target(iedge)) << std::endl;
} else {
if (m_parameters.debug) std::cout << "- back/front moves forwards" << std::endl;
future_point = source_p;
// std::cout << point_3(source(iedge)) << std::endl;
}
}
CGAL_assertion(pinit != future_point);
future_direction = Vector_2(pinit, future_point);
CGAL_assertion(future_direction != Vector_2());
future_point = pinit - m_current_time * future_direction;
if (m_parameters.debug) {
auto tmp = future_direction;
tmp = KSR::normalize(tmp);
std::cout << "- back/front future point: " <<
to_3d(sp_idx, pinit + m_current_time * tmp) << std::endl;
std::cout << "- back/front future direction: " << future_direction << std::endl;
}
return is_parallel;
}
bool compute_future_point_and_direction(
const PVertex& pvertex, const IVertex& ivertex,
const PVertex& prev, const PVertex& next, // prev next
const IEdge& iedge, Point_2& future_point, Vector_2& future_direction) const {
bool is_parallel = false;
const std::size_t sp_idx = pvertex.first;
const auto source_p = point_2(sp_idx, source(iedge));
const auto target_p = point_2(sp_idx, target(iedge));
CGAL_assertion_msg(KSR::distance(source_p, target_p) >= KSR::point_tolerance<FT>(),
"TODO: COMPUTE FUTURE POINT AND DIRECTION OPEN, HANDLE ZERO-LENGTH IEDGE!");
const Line_2 iedge_line(source_p, target_p);
// std::cout << "iedge segment: " << segment_3(iedge) << std::endl;
const auto& curr = prev;
const auto pv_point = point_2(pvertex);
const Point_2 pinit = iedge_line.projection(pv_point);
// std::cout << "pinit: " << to_3d(sp_idx, pinit) << std::endl;
const auto next_p = point_2(next);
const auto curr_p = point_2(curr);
// std::cout << "next p: " << point_3(next) << std::endl;
// std::cout << "curr p: " << point_3(curr) << std::endl;
CGAL_assertion(direction(next) != CGAL::NULL_VECTOR);
CGAL_assertion(direction(curr) != CGAL::NULL_VECTOR);
// std::cout << "dir next: " << direction(next) << std::endl;
// std::cout << "dir curr: " << direction(curr) << std::endl;
const auto next_f = point_2(next, m_current_time + FT(1));
const auto curr_f = point_2(curr, m_current_time + FT(1));
// std::cout << "next future: " << point_3(next, m_current_time + FT(1)) << std::endl;
// std::cout << "curr future: " << point_3(curr, m_current_time + FT(1)) << std::endl;
const FT tol = KSR::tolerance<FT>();
// std::cout << "tol: " << tol << std::endl;
FT m2 = FT(100000), m3 = FT(100000);
const Line_2 future_line_next(next_f, curr_f);
const FT next_d = (curr_p.x() - next_p.x());
const FT edge_d = (target_p.x() - source_p.x());
// std::cout << "next_d: " << next_d << std::endl;
// std::cout << "edge_d: " << edge_d << std::endl;
// std::cout << "next diff_d: " << CGAL::abs(
// CGAL::abs(next_d) - CGAL::abs(edge_d)) << std::endl;
if (CGAL::abs(next_d) > tol)
m2 = (curr_p.y() - next_p.y()) / next_d;
if (CGAL::abs(edge_d) > tol)
m3 = (target_p.y() - source_p.y()) / edge_d;
// std::cout << "m2: " << m2 << std::endl;
// std::cout << "m3: " << m3 << std::endl;
// std::cout << "m2 - m3: " << CGAL::abs(m2 - m3) << std::endl;
bool is_reversed = false;
if (CGAL::abs(m2 - m3) >= tol) {
if (m_parameters.debug) std::cout << "- open intersected lines" << std::endl;
future_point = KSR::intersection<Point_2>(future_line_next, iedge_line);
if (m_parameters.debug) {
std::cout << "- intersected point: " << to_3d(sp_idx, future_point) << std::endl;
}
// If reversed, we are most-likely in the parallel case and an intersection point
// is wrongly computed. This can happen even when we are bigger than tolerance.
is_reversed = is_reversed_direction(
sp_idx, pinit, future_point, ivertex, iedge);
}
const FT open_distance = KSR::distance(pinit, future_point);
if (m_parameters.debug) std::cout << "- open distance: " << open_distance << std::endl;
CGAL_assertion(open_distance >= FT(0));
// It can still miss this tolerance and then we enter parallel case and fail!
const FT reversed_tol = tol * FT(1000);
if (is_reversed && open_distance < reversed_tol) {
is_reversed = false;
// auto nvec = Vector_2(future_point, pinit);
// nvec = KSR::normalize(nvec);
// future_point = pinit + tol * nvec; // not a valid solution, tested
if (m_parameters.debug) std::cout << "- open reversed, imprecise computation" << std::endl;
CGAL_assertion_msg(false, "TODO: OPEN HANDLE REVERSED CASE!");
}
if (CGAL::abs(m2 - m3) < tol || is_reversed) {
if (m_parameters.debug) std::cout << "- open parallel lines" << std::endl;
is_parallel = true;
if (source_p == pv_point) {
if (m_parameters.debug) std::cout << "- open moves backwards" << std::endl;
future_point = target_p;
// std::cout << point_3(target(iedge)) << std::endl;
} else {
if (m_parameters.debug) std::cout << "- open moves forwards" << std::endl;
future_point = source_p;
// std::cout << point_3(source(iedge)) << std::endl;
}
}
CGAL_assertion(pinit != future_point);
future_direction = Vector_2(pinit, future_point);
CGAL_assertion(future_direction != Vector_2());
future_point = pinit - m_current_time * future_direction;
if (m_parameters.debug) {
auto tmp = future_direction;
tmp = KSR::normalize(tmp);
std::cout << "- open future point: " <<
to_3d(sp_idx, pinit + m_current_time * tmp) << std::endl;
std::cout << "- open future direction: " << future_direction << std::endl;
}
return is_parallel;
}
bool is_intersecting_iedge(
const FT min_time, const FT max_time,
const PVertex& pvertex, const IEdge& iedge) const {
CGAL_assertion(min_time >= FT(0));
CGAL_assertion(max_time >= FT(0));
const FT time_step = (max_time - min_time) / FT(100);
const FT time_1 = m_current_time - time_step;
const FT time_2 = m_current_time + time_step;
CGAL_assertion(time_1 != time_2);
const Segment_2 psegment(
point_2(pvertex, time_1), point_2(pvertex, time_2));
const auto pbbox = psegment.bbox();
const auto isegment = segment_2(pvertex.first, iedge);
const auto ibbox = isegment.bbox();
if (has_iedge(pvertex)) {
if (m_parameters.debug) std::cout << "- constrained pvertex case" << std::endl;
return false;
}
if (!is_active(pvertex)) {
if (m_parameters.debug) std::cout << "- pvertex no active case" << std::endl;
return false;
}
if (!is_active(iedge)) {
if (m_parameters.debug) std::cout << "- iedge no active case" << std::endl;
return false;
}
if (!CGAL::do_overlap(pbbox, ibbox)) {
if (m_parameters.debug) std::cout << "- no overlap case" << std::endl;
return false;
}
Point_2 point;
if (!KSR::intersection(psegment, isegment, point)) {
if (m_parameters.debug) std::cout << "- no intersection case" << std::endl;
return false;
}
if (m_parameters.debug) std::cout << "- found intersection" << std::endl;
return true;
}
};
} // namespace KSR_3
} // namespace CGAL
#endif // CGAL_KSR_3_DATA_STRUCTURE_H
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