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\subsection {Point location on the SNC structure}
This implementation of the point location and ray shooting for the SNC structure differs from the previous one (e.g. the naive implementation) in that it supports the candidates provider interface for performing ray shooting and point location.
<<SNC_point_locator.h>>=
#ifndef SNC_POINT_LOCATOR_H
#define SNC_POINT_LOCATOR_H
#include <CGAL/basic.h>
#include <CGAL/Nef_3/SNC_decorator.h>
#include <CGAL/Nef_3/SNC_intersection.h>
#include <CGAL/Nef_3/SNC_ray_shooter.h>
#include <CGAL/Nef_3/SNC_k3_tree_traits.h>
#include <CGAL/Nef_3/K3_tree.h>
#include <CGAL/Unique_hash_map.h>
#include <CGAL/Timer.h>
// #include <CGAL/Polygon_triangulation_traits_2.h>
// #include <CGAL/Nef_3/triangulate_nef3_facet.h>
#undef _DEBUG
#define _DEBUG 509
#include <CGAL/Nef_3/debug.h>
#undef _TRACEN
#define _TRACEN(msg) TRACEN( "SNC_point_locator: " << msg);
// TODO: find out the proper CGAL replacement for this macro and remove it
#define CGAL_for_each( i, C) for( i = C.begin(); i != C.end(); ++i)
// #define TIMER(instruction) instruction
#define TIMER(instruction)
// #define CLOG(t) std::clog <<" "<<t<<std::endl; std::clog.flush()
#define CLOG(t)
CGAL_BEGIN_NAMESPACE
template <typename SNC_structure>
class SNC_point_locator
{
public:
class Intersection_call_back;
typedef SNC_point_locator<SNC_structure> Self;
protected:
char version_[64];
// time for construction, point location, ray shooting and intersection test
mutable Timer ct_t, pl_t, rs_t, it_t;
public:
#define USING(t) typedef typename SNC_structure::t t
USING(Object_handle);
USING(Vertex_handle);
USING(Halfedge_handle);
USING(Halffacet_handle);
USING(Halffacet_triangle_handle);
USING(Volume_handle);
USING(Vertex_iterator);
USING(Halfedge_iterator);
USING(Halffacet_iterator);
USING(Point_3);
USING(Segment_3);
USING(Ray_3);
USING(Vector_3);
USING(Triangle_3);
USING(Aff_transformation_3);
#undef USING
const char* version() { return version_; }
virtual Object_handle locate(const Point_3& p) const = 0;
virtual Object_handle shoot(const Ray_3& s) const = 0;
virtual void intersect_with_edges( Halfedge_handle edge,
const Intersection_call_back& call_back)
const = 0;
virtual void intersect_with_facets( Halfedge_handle edge,
const Intersection_call_back& call_back)
const = 0;
class Intersection_call_back
{
public:
virtual void operator()( Halfedge_handle edge, Object_handle object,
const Point_3& intersection_point) const = 0;
};
virtual void initialize(SNC_structure* W) = 0;
virtual Self* clone() const = 0;
virtual void transform(const Aff_transformation_3& t) = 0;
//virtual bool update( Unique_hash_map<Vertex_handle, bool>& V,
// Unique_hash_map<Halfedge_handle, bool>& E,
// Unique_hash_map<Halffacet_handle, bool>& F) = 0;
virtual ~SNC_point_locator() {
CLOG("");
CLOG("construction_time: "<<ct_t.time());
CLOG("pointlocation_time: "<<pl_t.time());
CLOG("rayshooting_time: "<<rs_t.time());
CLOG("intersection_time: "<<it_t.time());
// warning: the total time showed here could be actually larger
// that the real time used by this class, since point location
// and intersection test use the ray shooter and so the same time
// could be account to more than one timer
CLOG("pltotal_time: "<<
ct_t.time()+pl_t.time()+rs_t.time()+it_t.time());
};
};
template <typename SNC_structure>
class SNC_point_locator_by_spatial_subdivision :
public SNC_point_locator<SNC_structure>,
public SNC_decorator<SNC_structure>
{
typedef SNC_decorator<SNC_structure> Base;
typedef SNC_decorator<SNC_structure> SNC_decorator;
typedef SNC_point_locator<SNC_structure> SNC_point_locator;
typedef SNC_point_locator_by_spatial_subdivision<SNC_structure> Self;
typedef typename SNC_structure::Sphere_map Sphere_map;
typedef SM_decorator<Sphere_map> SM_decorator;
typedef SNC_intersection<SNC_structure> SNC_intersection;
typedef typename SNC_structure::Kernel Kernel;
public:
typedef typename CGAL::SNC_k3_tree_traits<SNC_structure> K3_tree_traits;
typedef typename CGAL::K3_tree<K3_tree_traits> K3_tree;
typedef K3_tree SNC_candidate_provider;
#define USING(t) typedef typename SNC_point_locator::t t
USING(Object_handle);
USING(Vertex_handle);
USING(Halfedge_handle);
USING(Halffacet_handle);
USING(Halffacet_triangle_handle);
USING(Vertex_iterator);
USING(Halfedge_iterator);
USING(Halffacet_iterator);
USING(Volume_handle);
USING(Point_3);
USING(Segment_3);
USING(Ray_3);
USING(Vector_3);
USING(Triangle_3);
USING(Aff_transformation_3);
#undef USING
typedef typename SNC_candidate_provider::Object_list Object_list;
typedef typename Object_list::iterator Object_list_iterator;
typedef typename SNC_candidate_provider::Objects_along_ray Objects_along_ray;
typedef typename Objects_along_ray::Iterator Objects_along_ray_iterator;
public:
SNC_point_locator_by_spatial_subdivision() :
initialized(false), candidate_provider(0) {}
virtual void initialize(SNC_structure* W) {
TIMER(ct_t.start());
strcpy( version_, "Point Locator by Spatial Subdivision (tm)");
#ifdef CGAL_NEF3_TRIANGULATE_FACETS
CLOG(version()<<" (with triangulated facets)");
#else
CLOG(version());
#endif
CGAL_assertion( W != NULL);
Base::initialize(W);
initialized = true;
Object_list objects;
Vertex_iterator v;
Halfedge_iterator e;
Halffacet_iterator f;
CGAL_forall_vertices( v, *sncp())
objects.push_back(Object_handle(Vertex_handle(v)));
CGAL_forall_edges( e, *sncp())
objects.push_back(Object_handle(Halfedge_handle(e)));
CGAL_forall_facets( f, *sncp()) {
#ifdef CGAL_NEF3_TRIANGULATE_FACETS
typedef typename std::list<Triangle_3> Triangles;
typedef typename Triangles::const_iterator Triangles_iterator;
typedef Polygon_triangulation_traits_2<Kernel> Triangulation_traits;
Triangles triangles;
triangulate_facet<SNC_structure>
( f, std::back_inserter(triangles), Triangulation_traits());
for( Triangles_iterator ti = triangles.begin();
ti != triangles.end(); ++ti) {
Halffacet_triangle_handle th( f, *ti);
objects.push_back(Object_handle(th));
CGAL_assertion( assign( th, *(--objects.end())));
CGAL_assertion( th.get_triangle() == *ti);
}
#else
objects.push_back(Object_handle(Halffacet_handle(f)));
#endif // CGAL_NEF3_TRIANGULATE_FACETS
}
candidate_provider = new SNC_candidate_provider(objects);
//_TRACEN(*candidate_provider);
TIMER(ct_t.stop());
}
virtual Self* clone() const {
return new Self;
}
virtual void transform(const Aff_transformation_3& t) {
candidate_provider->transform(t);
}
virtual bool update( Unique_hash_map<Vertex_handle, bool>& V,
Unique_hash_map<Halfedge_handle, bool>& E,
Unique_hash_map<Halffacet_handle, bool>& F) {
TIMER(ct_t.start());
CGAL_assertion( initialized);
bool updated = candidate_provider->update( V, E, F);
TIMER(ct_t.stop());
return updated;
}
virtual ~SNC_point_locator_by_spatial_subdivision() {
CGAL_warning( initialized); // required?
delete candidate_provider;
}
virtual Object_handle shoot(const Ray_3& ray) const {
TIMER(rs_t.start());
CGAL_assertion( initialized);
_TRACEN( "shooting: "<<ray);
Object_handle result;
Vertex_handle v;
Halfedge_handle e;
Halffacet_handle f;
Halffacet_triangle_handle t;
bool hit = false;
Point_3 eor; // 'end of ray', the latest ray's hit point
Objects_along_ray objects = candidate_provider->objects_along_ray(ray);
Objects_along_ray_iterator objects_iterator = objects.begin();
while( !hit && objects_iterator != objects.end()) {
Object_list candidates = *objects_iterator;
Object_list_iterator o;
CGAL_for_each( o, candidates) {
if( assign( v, *o)) {
_TRACEN("trying vertex on "<<point(v));
if( ray.source() != point(v) && ray.has_on(point(v))) {
_TRACEN("the ray intersects the vertex");
_TRACEN("prev. intersection? "<<hit);
if( hit) _TRACEN("prev. intersection on "<<eor);
if( hit && !Segment_3( ray.source(), eor).has_on(point(v)))
continue;
eor = point(v);
result = Object_handle(v);
hit = true;
_TRACEN("the vertex becomes the new hit object");
}
}
else if( assign( e, *o)) {
Point_3 q;
_TRACEN("trying edge on "<<segment(e));
if( is.does_intersect_internally( ray, segment(e), q)) {
_TRACEN("ray intersects edge on "<<q);
_TRACEN("prev. intersection? "<<hit);
if( hit) _TRACEN("prev. intersection on "<<eor);
if( hit && !has_smaller_distance_to_point( ray.source(), q, eor))
continue;
_TRACEN("is the intersection point on the current cell? "<<
candidate_provider->is_point_on_cell( q, objects_iterator));
if( !candidate_provider->is_point_on_cell( q, objects_iterator))
continue;
eor = q;
result = Object_handle(e);
hit = true;
_TRACEN("the edge becomes the new hit object");
}
}
else if( assign( f, *o)) {
Point_3 q;
_TRACEN("trying facet with on plane "<<plane(f)<<
" with point on "<<plane(f).point());
if( is.does_intersect_internally( ray, f, q) ) {
_TRACEN("ray intersects facet on "<<q);
_TRACEN("prev. intersection? "<<hit);
if( hit) _TRACEN("prev. intersection on "<<eor);
if( hit && !has_smaller_distance_to_point( ray.source(), q, eor))
continue;
_TRACEN("is the intersection point on the current cell? "<<
candidate_provider->is_point_on_cell( q, objects_iterator));
if( !candidate_provider->is_point_on_cell( q, objects_iterator))
continue;
eor = q;
result = Object_handle(f);
hit = true;
_TRACEN("the facet becomes the new hit object");
}
}
else if( assign( t, *o)) {
Point_3 q;
Triangle_3 tr = t.get_triangle();
_TRACEN("trying triangle "<<tr);
if( is.does_intersect( ray, tr, q)) {
_TRACEN("ray intersect triangle on "<<q);
_TRACEN("prev. intersection? "<<hit);
if( hit) _TRACEN("prev. intersection on "<<eor);
if( hit && !has_smaller_distance_to_point( ray.source(), q, eor))
continue;
_TRACEN("is the intersection point on the boundary of the facet? "<<
is.does_contain_on_boundary( t, q));
if( is.does_contain_on_boundary( t, q))
continue;
_TRACEN("is the intersection point on the current cell? "<<
candidate_provider->is_point_on_cell(q,objects_iterator));
if( !candidate_provider->is_point_on_cell( q, objects_iterator))
continue;
eor = q;
result = Object_handle(Halffacet_handle(t));
hit = true;
_TRACEN("the facet becomes the new hit object");
}
}
else
CGAL_assertion_msg( 0, "wrong handle");
}
if(!hit)
++objects_iterator;
}
TIMER(rs_t.stop());
return result;
}
virtual Object_handle locate( const Point_3& p) const {
TIMER(pl_t.start());
CGAL_assertion( initialized);
_TRACEN( "locate "<<p);
Object_handle result;
Vertex_handle v;
Halfedge_handle e;
Halffacet_handle f;
Halffacet_triangle_handle t;
Object_list candidates = candidate_provider->objects_around_point(p);
Object_list_iterator o = candidates.begin();
bool found = false;
while( !found && o != candidates.end()) {
if( assign( v, *o)) {
if ( p == point(v)) {
_TRACEN("found on vertex "<<point(v));
result = Object_handle(v);
found = true;
}
}
else if( assign( e, *o)) {
if ( is.does_contain_internally( segment(e), p) ) {
_TRACEN("found on edge "<<segment(e));
result = Object_handle(e);
found = true;
}
}
else if( assign( f, *o)) {
if ( is.does_contain_internally( f, p) ) {
_TRACEN("found on facet...");
result = Object_handle(f);
found = true;
}
}
else if( assign( t, *o)) {
Triangle_3 tr = t.get_triangle();
if( tr.has_on(p)) {
_TRACEN("found on triangle "<<tr);
if(is.does_contain_on_boundary( t, p)) {
_TRACEN("but located on the facet's boundary");
continue;
}
result = Object_handle(Halffacet_handle(t));
found = true;
}
}
o++;
}
if( !found) {
_TRACEN("point not found in 2-skeleton");
_TRACEN("shooting ray to determine the volume");
Ray_3 r( p, Vector_3( -1, 0, 0));
result = Object_handle(determine_volume(r));
}
TIMER(pl_t.stop());
return result;
}
virtual void intersect_with_edges( Halfedge_handle e0,
const typename SNC_point_locator::Intersection_call_back& call_back) const {
TIMER(it_t.start());
CGAL_assertion( initialized);
_TRACEN( "intersecting edge: "<<&*e0<<' '<<segment(e0));
Segment_3 s(segment(e0));
Vertex_handle v;
Halfedge_handle e;
Halffacet_handle f;
Halffacet_triangle_handle t;
Object_list_iterator o;
Object_list objects = candidate_provider->objects_around_segment(s);
CGAL_for_each( o, objects) {
if( assign( v, *o)) {
/* do nothing */
}
else if( assign( e, *o)) {
Point_3 q;
if( is.does_intersect_internally( s, segment(e), q)) {
q = normalized(q);
call_back( e0, Object_handle(e), q);
_TRACEN("edge intersects edge "<<' '<<&*e<<segment(e)<<" on "<<q);
}
}
else if( assign( f, *o)) {
/* do nothing */
}
else if( assign( t, *o)) {
/* do nothing */
}
else
CGAL_assertion_msg( 0, "wrong handle");
}
TIMER(it_t.stop());
}
virtual void intersect_with_facets( Halfedge_handle e0,
const typename SNC_point_locator::Intersection_call_back& call_back) const {
TIMER(it_t.start());
CGAL_assertion( initialized);
_TRACEN( "intersecting edge: "<<segment(e0));
#ifdef CGAL_NEF3_TRIANGULATE_FACETS
Unique_hash_map< Halffacet_triangle_handle, bool> f_mark(false);
#endif // CGAL_NEF3_TRIANGULATE_FACETS
Segment_3 s(segment(e0));
Vertex_handle v;
Halfedge_handle e;
Halffacet_handle f;
Halffacet_triangle_handle t;
Object_list_iterator o;
Object_list objects = candidate_provider->objects_around_segment(s);
CGAL_for_each( o, objects) {
if( assign( v, *o)) {
/* do nothing */
}
else if( assign( e, *o)) {
/* do nothing */
}
else if( assign( f, *o)) {
Point_3 q;
if( is.does_intersect_internally( s, f, q) ) {
q = normalized(q);
call_back( e0, Object_handle(f), q);
_TRACEN("edge intersects facet on plane "<<plane(f)<<" on "<<q);
}
}
else if( assign( t, *o)) {
Point_3 q;
Triangle_3 tr = t.get_triangle();
#ifdef CGAL_NEF3_TRIANGULATE_FACETS
if( f_mark[t])
continue;
#endif // CGAL_NEF3_TRIANGULATE_FACETS
_TRACEN("trying with triangle "<<tr);
if( is.does_intersect( s, tr, q) &&
!is.does_contain_on_boundary( t, q)) {
q = normalized(q);
call_back( e0, Object_handle(Halffacet_handle(t)), q);
_TRACEN("edge intersects facet triangle on plane "<<plane(t)<<" on "<<q);
#ifdef CGAL_NEF3_TRIANGULATE_FACETS
f_mark[t] = true;
#endif // CGAL_NEF3_TRIANGULATE_FACETS
}
}
else
CGAL_assertion_msg( 0, "wrong handle");
}
TIMER(it_t.stop());
}
private:
Volume_handle determine_volume( const Ray_3& ray) const {
Halffacet_handle f_below;
Object_handle o = shoot(ray);
Vertex_handle v;
Halfedge_handle e;
Halffacet_handle f;
if( assign( v, o)) {
_TRACEN("vertex hit, obtaining volume...");
f_below = get_visible_facet( v, ray);
if( f_below != Halffacet_handle())
return volume(f_below);
SM_decorator SD(&*v); // now, the vertex has no incident facets
CGAL_assertion( SD.number_of_sfaces() == 1);
return volume(SD.sfaces_begin());
}
else if( assign( e, o)) {
_TRACEN("edge hit, obtaining volume...");
f_below = get_visible_facet( e, ray);
if( f_below != Halffacet_handle())
return volume(f_below);
CGAL_assertion_code(SM_decorator SD(&*source(e))); // now, the edge has no incident facets
CGAL_assertion(SD.is_isolated(e));
return volume(sface(e));
}
else if( assign( f, o)) {
_TRACEN("facet hit, obtaining volume...");
f_below = get_visible_facet(f, ray);
CGAL_assertion( f_below != Halffacet_handle());
return volume(f_below);
}
return Base(*this).volumes_begin(); // TODO: Comment this hack!
}
private:
bool initialized;
SNC_candidate_provider* candidate_provider;
SNC_intersection is;
std::list<Halffacet_triangle_handle> triangulation;
};
template <typename SNC_structure>
class SNC_point_locator_naive :
public SNC_ray_shooter<SNC_structure>,
public SNC_point_locator<SNC_structure>
{
typedef SNC_ray_shooter<SNC_structure> Base;
typedef SNC_point_locator_naive<SNC_structure> Self;
typedef SNC_point_locator<SNC_structure> SNC_point_locator;
typedef SNC_intersection<SNC_structure> SNC_intersection;
public:
#define USING(t) typedef typename SNC_point_locator::t t
USING(Object_handle);
USING(Vertex_handle);
USING(Halfedge_handle);
USING(Halffacet_handle);
USING(Volume_handle);
USING(Vertex_iterator);
USING(Halfedge_iterator);
USING(Halffacet_iterator);
USING(Point_3);
USING(Segment_3);
USING(Ray_3);
USING(Triangle_3);
#undef USING
public:
SNC_point_locator_naive() : initialized(false) {}
virtual void initialize(SNC_structure* W) {
TIMER(ct_t.start());
strcpy( version_, "Naive Point Locator (tm)");
CLOG(version());
CGAL_assertion( W != NULL);
Base::initialize(W);
initialized = true;
TIMER(ct_t.stop());
}
virtual Self* clone() const {
return new Self;
}
virtual bool update( Unique_hash_map<Vertex_handle, bool>& V,
Unique_hash_map<Halfedge_handle, bool>& E,
Unique_hash_map<Halffacet_handle, bool>& F) {
TIMER(ct_t.start());
CGAL_assertion( initialized);
TIMER(ct_t.stop());
return false;
}
virtual ~SNC_point_locator_naive() {}
virtual Object_handle locate(const Point_3& p) const {
TIMER(pl_t.start());
CGAL_assertion( initialized);
TIMER(pl_t.stop());
return Base::locate(p);
}
virtual Object_handle shoot(const Ray_3& r) const {
TIMER(rs_t.start());
CGAL_assertion( initialized);
TIMER(rs_t.stop());
return Base::shoot(r);
}
virtual void intersect_with_edges( Halfedge_handle e0,
const typename SNC_point_locator::Intersection_call_back& call_back) const {
TIMER(it_t.start());
CGAL_assertion( initialized);
TRACEN( "intersecting edge: "<<segment(e0));
SNC_intersection is(*sncp());
Segment_3 s(segment(e0));
Halfedge_iterator e;
CGAL_forall_edges( e, *sncp()) {
Point_3 q;
if( is.does_intersect_internally( s, segment(e), q)) {
q = normalized(q);
TRACEN("edge intersects edge "<<segment(e)<<" on "<<q);
call_back( e0, Object_handle(e), q);
}
}
TIMER(it_t.stop());
}
virtual void intersect_with_facets( Halfedge_handle e0,
const typename SNC_point_locator::Intersection_call_back& call_back) const {
TIMER(it_t.start());
CGAL_assertion( initialized);
TRACEN( "intersecting edge: "<<segment(e0));
SNC_intersection is(*sncp());
Segment_3 s(segment(e0));
Halffacet_iterator f;
CGAL_forall_facets( f, *sncp()) {
Point_3 q;
if( is.does_intersect_internally( s, f, q) ) {
q = normalized(q);
TRACEN("edge intersects facet on plane "<<plane(f)<<" on "<<q);
call_back( e0, Object_handle(f), q);
}
}
TIMER(it_t.stop());
}
private:
bool initialized;
};
CGAL_END_NAMESPACE
#endif // SNC_POINT_LOCATOR_H
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