519 lines
18 KiB
C++
519 lines
18 KiB
C++
// Copyright (c) 2009 INRIA Sophia-Antipolis (France).
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// All rights reserved.
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//
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// This file is part of CGAL (www.cgal.org).
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//
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// $URL: https://github.com/CGAL/cgal/blob/v5.1/AABB_tree/include/CGAL/AABB_traits.h $
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// $Id: AABB_traits.h 2e8a59d 2020-07-21T15:25:54+02:00 Laurent Rineau
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// SPDX-License-Identifier: GPL-3.0-or-later OR LicenseRef-Commercial
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//
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//
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// Author(s) : Stéphane Tayeb, Pierre Alliez, Camille Wormser
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//
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#ifndef CGAL_AABB_TRAITS_H_
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#define CGAL_AABB_TRAITS_H_
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#include <CGAL/license/AABB_tree.h>
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#include <CGAL/disable_warnings.h>
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#include <CGAL/Bbox_3.h>
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#include <CGAL/Default.h>
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#include <CGAL/intersections.h>
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#include <CGAL/internal/AABB_tree/Has_nested_type_Shared_data.h>
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#include <CGAL/internal/AABB_tree/Is_ray_intersection_geomtraits.h>
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#include <CGAL/internal/AABB_tree/Primitive_helper.h>
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#include <boost/optional.hpp>
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#include <boost/bind.hpp>
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/// \file AABB_traits.h
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namespace CGAL {
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namespace internal{ namespace AABB_tree {
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template <class T>
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struct Remove_optional { typedef T type; };
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template <class T>
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struct Remove_optional< ::boost::optional<T> > { typedef T type; };
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//helper controlling whether extra data should be stored in the AABB_tree traits class
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template <class Primitive, bool has_shared_data=Has_nested_type_Shared_data<Primitive>::value>
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struct AABB_traits_base;
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template <class Primitive>
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struct AABB_traits_base<Primitive,false>{};
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template <class Primitive>
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struct AABB_traits_base<Primitive,true>{
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typename Primitive::Shared_data m_primitive_data;
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template <typename ... T>
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void set_shared_data(T&& ... t){
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m_primitive_data=Primitive::construct_shared_data(std::forward<T>(t)...);
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}
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const typename Primitive::Shared_data& shared_data() const {return m_primitive_data;}
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};
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// AABB_traits_base_2 brings in the Intersection_distance predicate,
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// if GeomTraits is a model RayIntersectionGeomTraits.
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template <typename GeomTraits, bool ray_intersection_geom_traits=Is_ray_intersection_geomtraits<GeomTraits>::value>
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struct AABB_traits_base_2;
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template <typename GeomTraits>
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struct AABB_traits_base_2<GeomTraits,false>{};
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template <typename GeomTraits>
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struct AABB_traits_base_2<GeomTraits,true>{
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typedef typename GeomTraits::Ray_3 Ray_3;
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typedef typename GeomTraits::Point_3 Point_3;
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typedef typename GeomTraits::Vector_3 Vector_3;
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typedef typename GeomTraits::FT FT;
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typedef typename GeomTraits::Cartesian_const_iterator_3 Cartesian_const_iterator_3;
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typedef typename GeomTraits::Construct_cartesian_const_iterator_3 Construct_cartesian_const_iterator_3;
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typedef typename GeomTraits::Construct_source_3 Construct_source_3;
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typedef typename GeomTraits::Construct_vector_3 Construct_vector_3;
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// Defining Bounding_box and other types from the full AABB_traits
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// here is might seem strange, but otherwise we would need to use
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// CRTP to get access to the derived class, which would bloat the
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// code more.
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typedef typename CGAL::Bbox_3 Bounding_box;
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struct Intersection_distance {
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boost::optional<FT> operator()(const Ray_3& ray, const Bounding_box& bbox) const {
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FT t_near = -DBL_MAX; // std::numeric_limits<FT>::lowest(); C++1903
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FT t_far = DBL_MAX;
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const Construct_cartesian_const_iterator_3 construct_cartesian_const_iterator_3
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= GeomTraits().construct_cartesian_const_iterator_3_object();
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const Construct_source_3 construct_source_3 = GeomTraits().construct_source_3_object();
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const Construct_vector_3 construct_vector_3 = GeomTraits().construct_vector_3_object();
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const Point_3 source = construct_source_3(ray);
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const Vector_3 direction = construct_vector_3(ray);
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Cartesian_const_iterator_3 source_iter = construct_cartesian_const_iterator_3(source);
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Cartesian_const_iterator_3 direction_iter = construct_cartesian_const_iterator_3(direction);
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for(int i = 0; i < 3; ++i, ++source_iter, ++direction_iter) {
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if(*direction_iter == 0) {
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if((*source_iter < (bbox.min)(i)) || (*source_iter > (bbox.max)(i))) {
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return boost::none;
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}
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} else {
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FT t1 = ((bbox.min)(i) - *source_iter) / *direction_iter;
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FT t2 = ((bbox.max)(i) - *source_iter) / *direction_iter;
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t_near = (std::max)(t_near, (std::min)(t1, t2));
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t_far = (std::min)(t_far, (std::max)(t1, t2));
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// if(t1 > t2)
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// std::swap(t1, t2);
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// if(t1 > t_near)
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// t_near = t1;
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// if(t2 < t_far)
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// t_far = t2;
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if(t_near > t_far || t_far < FT(0.))
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return boost::none;
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}
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}
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if(t_near < FT(0.))
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return FT(0.);
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else
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return t_near;
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}
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};
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Intersection_distance intersection_distance_object() const { return Intersection_distance(); }
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};
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} } //end of namespace internal::AABB_tree
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/// \addtogroup PkgAABBTreeRef
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/// @{
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// forward declaration
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template< typename AABBTraits>
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class AABB_tree;
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/// This traits class handles any type of 3D geometric
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/// primitives provided that the proper intersection tests and
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/// constructions are implemented. It handles points, rays, lines and
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/// segments as query types for intersection detection and
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/// computations, and it handles points as query type for distance
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/// queries.
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///
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/// \cgalModels AABBTraits
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/// \cgalModels AABBRayIntersectionTraits
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/// \tparam GeomTraits must be a model of the concept \ref AABBGeomTraits,
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/// and provide the geometric types as well as the intersection tests and computations.
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/// \tparam Primitive provide the type of primitives stored in the AABB_tree.
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/// It is a model of the concept `AABBPrimitive` or `AABBPrimitiveWithSharedData`.
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///
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/// \tparam BboxMap must be a model of `ReadablePropertyMap` that has as key type a primitive id,
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/// and as value type a `Bounding_box`.
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/// If the type is `Default` the `Datum` must have the
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/// member function `bbox()` that returns the bounding box of the primitive.
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///
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/// If the argument `GeomTraits` is a model of the concept \ref
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/// AABBRayIntersectionGeomTraits, this class is also a model of \ref
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/// AABBRayIntersectionTraits.
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///
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/// \sa `AABBTraits`
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/// \sa `AABB_tree`
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/// \sa `AABBPrimitive`
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/// \sa `AABBPrimitiveWithSharedData`
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template<typename GeomTraits, typename AABBPrimitive, typename BboxMap = Default>
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class AABB_traits
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#ifndef DOXYGEN_RUNNING
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: public internal::AABB_tree::AABB_traits_base<AABBPrimitive>,
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public internal::AABB_tree::AABB_traits_base_2<GeomTraits>
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#endif
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{
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typedef typename CGAL::Object Object;
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public:
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typedef GeomTraits Geom_traits;
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typedef AABB_traits<GeomTraits, AABBPrimitive, BboxMap> AT;
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// AABBTraits concept types
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typedef typename GeomTraits::FT FT;
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typedef AABBPrimitive Primitive;
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typedef typename std::pair<Object,typename Primitive::Id> Object_and_primitive_id;
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typedef typename std::pair<typename GeomTraits::Point_3, typename Primitive::Id> Point_and_primitive_id;
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/// `Intersection_and_primitive_id<Query>::%Type::first_type` is found according to
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/// the result type of `GeomTraits::Intersect_3::operator()`,
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/// (that is cpp11::result_of<GeomTraits::Intersect_3(Query, Primitive::Datum)>::type). If it is
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/// `boost::optional<T>` then it is `T`, and the result type otherwise.
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template<typename Query>
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struct Intersection_and_primitive_id {
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typedef typename cpp11::result_of<
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typename GeomTraits::Intersect_3(Query, typename Primitive::Datum)
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>::type Intersection_type;
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typedef std::pair<
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typename internal::AABB_tree::Remove_optional<Intersection_type>::type,
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typename Primitive::Id > Type;
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};
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// types for search tree
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/// \name Types
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/// @{
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/// Point query type.
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typedef typename GeomTraits::Point_3 Point_3;
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/// additionnal types for the search tree, required by the RangeSearchTraits concept
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/// \bug This is not documented for now in the AABBTraits concept.
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typedef typename GeomTraits::Iso_cuboid_3 Iso_cuboid_3;
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/// Bounding box type.
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typedef typename CGAL::Bbox_3 Bounding_box;
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/// @}
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typedef typename GeomTraits::Sphere_3 Sphere_3;
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typedef typename GeomTraits::Cartesian_const_iterator_3 Cartesian_const_iterator_3;
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typedef typename GeomTraits::Construct_cartesian_const_iterator_3 Construct_cartesian_const_iterator_3;
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typedef typename GeomTraits::Construct_center_3 Construct_center_3;
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typedef typename GeomTraits::Compute_squared_radius_3 Compute_squared_radius_3;
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typedef typename GeomTraits::Construct_min_vertex_3 Construct_min_vertex_3;
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typedef typename GeomTraits::Construct_max_vertex_3 Construct_max_vertex_3;
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typedef typename GeomTraits::Construct_iso_cuboid_3 Construct_iso_cuboid_3;
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BboxMap bbm;
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/// Default constructor.
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AABB_traits() { }
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AABB_traits(BboxMap bbm)
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: bbm(bbm)
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{}
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typedef typename GeomTraits::Compute_squared_distance_3 Squared_distance;
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Squared_distance squared_distance_object() const { return GeomTraits().compute_squared_distance_3_object(); }
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typedef typename GeomTraits::Equal_3 Equal_3;
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Equal_3 equal_3_object() const { return GeomTraits().equal_3_object(); }
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/**
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* @internal
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* @brief Sorts [first,beyond[
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* @param first iterator on first element
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* @param beyond iterator on beyond element
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* @param bbox the bounding box of [first,beyond[
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*
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* Sorts the range defined by [first,beyond[. Sort is achieved on bbox longuest
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* axis, using the comparison function `<dim>_less_than` (dim in {x,y,z})
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*/
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class Split_primitives
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{
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typedef AABB_traits<GeomTraits,AABBPrimitive,BboxMap> Traits;
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const Traits& m_traits;
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public:
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Split_primitives(const AABB_traits<GeomTraits,AABBPrimitive,BboxMap>& traits)
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: m_traits(traits) {}
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typedef void result_type;
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template<typename PrimitiveIterator>
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void operator()(PrimitiveIterator first,
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PrimitiveIterator beyond,
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const typename AT::Bounding_box& bbox) const
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{
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PrimitiveIterator middle = first + (beyond - first)/2;
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switch(Traits::longest_axis(bbox))
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{
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case AT::CGAL_AXIS_X: // sort along x
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std::nth_element(first, middle, beyond, boost::bind(Traits::less_x,_1,_2,m_traits));
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break;
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case AT::CGAL_AXIS_Y: // sort along y
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std::nth_element(first, middle, beyond, boost::bind(Traits::less_y,_1,_2,m_traits));
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break;
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case AT::CGAL_AXIS_Z: // sort along z
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std::nth_element(first, middle, beyond, boost::bind(Traits::less_z,_1,_2,m_traits));
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break;
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default:
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CGAL_error();
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}
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}
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};
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Split_primitives split_primitives_object() const {return Split_primitives(*this);}
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/*
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* Computes the bounding box of a set of primitives
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* @param first an iterator on the first primitive
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* @param beyond an iterator on the past-the-end primitive
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* @return the bounding box of the primitives of the iterator range
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*/
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class Compute_bbox {
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const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& m_traits;
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public:
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Compute_bbox(const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& traits)
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:m_traits (traits) {}
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template<typename ConstPrimitiveIterator>
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typename AT::Bounding_box operator()(ConstPrimitiveIterator first,
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ConstPrimitiveIterator beyond) const
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{
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typename AT::Bounding_box bbox = m_traits.compute_bbox(*first,m_traits.bbm);
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for(++first; first != beyond; ++first)
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{
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bbox = bbox + m_traits.compute_bbox(*first,m_traits.bbm);
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}
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return bbox;
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}
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};
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Compute_bbox compute_bbox_object() const {return Compute_bbox(*this);}
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/// \brief Function object using `GeomTraits::Do_intersect`.
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/// In the case the query is a `CGAL::AABB_tree`, the `do_intersect()`
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/// function of this tree is used.
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class Do_intersect {
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const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& m_traits;
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public:
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Do_intersect(const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& traits)
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:m_traits(traits) {}
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template<typename Query>
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bool operator()(const Query& q, const Bounding_box& bbox) const
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{
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return CGAL::do_intersect(q, bbox);
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}
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template<typename Query>
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bool operator()(const Query& q, const Primitive& pr) const
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{
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return GeomTraits().do_intersect_3_object()(q, internal::Primitive_helper<AT>::get_datum(pr,m_traits));
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}
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// intersection with AABB-tree
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template<typename AABBTraits>
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bool operator()(const CGAL::AABB_tree<AABBTraits>& other_tree, const Primitive& pr) const
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{
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return other_tree.do_intersect( internal::Primitive_helper<AT>::get_datum(pr,m_traits) );
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}
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template<typename AABBTraits>
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bool operator()(const CGAL::AABB_tree<AABBTraits>& other_tree, const Bounding_box& bbox) const
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{
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return other_tree.do_intersect(bbox);
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}
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};
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Do_intersect do_intersect_object() const {return Do_intersect(*this);}
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class Intersection {
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const AABB_traits<GeomTraits,AABBPrimitive,BboxMap>& m_traits;
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public:
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Intersection(const AABB_traits<GeomTraits,AABBPrimitive,BboxMap>& traits)
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:m_traits(traits) {}
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template<typename Query>
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boost::optional< typename Intersection_and_primitive_id<Query>::Type >
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operator()(const Query& query, const typename AT::Primitive& primitive) const {
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typename cpp11::result_of<typename GeomTraits::Intersect_3(Query, typename Primitive::Datum) >::type
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inter_res = GeomTraits().intersect_3_object()(internal::Primitive_helper<AT>::get_datum(primitive,m_traits),query);
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if (!inter_res)
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return boost::none;
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return boost::make_optional( std::make_pair(*inter_res, primitive.id()) );
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}
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};
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Intersection intersection_object() const {return Intersection(*this);}
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// This should go down to the GeomTraits, i.e. the kernel
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class Closest_point {
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typedef typename AT::Point_3 Point;
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typedef typename AT::Primitive Primitive;
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const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& m_traits;
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public:
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Closest_point(const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& traits)
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: m_traits(traits) {}
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Point operator()(const Point& p, const Primitive& pr, const Point& bound) const
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{
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GeomTraits geom_traits;
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Point closest_point = geom_traits.construct_projected_point_3_object()(
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internal::Primitive_helper<AT>::get_datum(pr,m_traits), p);
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return
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geom_traits.compare_distance_3_object()(p, closest_point, bound)==LARGER ?
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bound : closest_point;
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}
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};
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// This should go down to the GeomTraits, i.e. the kernel
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// and the internal implementation should change its name from
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// do_intersect to something like does_contain (this is what we compute,
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// this is not the same do_intersect as the spherical kernel)
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class Compare_distance {
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typedef typename AT::Point_3 Point;
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typedef typename AT::FT FT;
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typedef typename AT::Primitive Primitive;
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public:
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template <class Solid>
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CGAL::Comparison_result operator()(const Point& p, const Solid& pr, const Point& bound) const
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{
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return GeomTraits().do_intersect_3_object()
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(GeomTraits().construct_sphere_3_object()
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(p, GeomTraits().compute_squared_distance_3_object()(p, bound)), pr)?
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CGAL::SMALLER : CGAL::LARGER;
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}
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template <class Solid>
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CGAL::Comparison_result operator()(const Point& p, const Solid& pr, const FT& sq_distance) const
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{
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return GeomTraits().do_intersect_3_object()
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(GeomTraits().construct_sphere_3_object()(p, sq_distance),
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pr) ?
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CGAL::SMALLER :
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CGAL::LARGER;
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}
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};
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Closest_point closest_point_object() const {return Closest_point(*this);}
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Compare_distance compare_distance_object() const {return Compare_distance();}
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private:
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/**
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* @brief Computes bounding box of one primitive
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* @param pr the primitive
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* @return the bounding box of the primitive \c pr
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*/
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template <typename PM>
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Bounding_box compute_bbox(const Primitive& pr, const PM&)const
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{
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return get(bbm, pr.id());
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}
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Bounding_box compute_bbox(const Primitive& pr, const Default&)const
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{
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return internal::Primitive_helper<AT>::get_datum(pr,*this).bbox();
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}
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typedef enum { CGAL_AXIS_X = 0,
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CGAL_AXIS_Y = 1,
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CGAL_AXIS_Z = 2} Axis;
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static Axis longest_axis(const Bounding_box& bbox);
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/// Comparison functions
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static bool less_x(const Primitive& pr1, const Primitive& pr2,const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& traits)
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{
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return GeomTraits().less_x_3_object()( internal::Primitive_helper<AT>::get_reference_point(pr1,traits),
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internal::Primitive_helper<AT>::get_reference_point(pr2,traits) );
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}
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static bool less_y(const Primitive& pr1, const Primitive& pr2,const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& traits)
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|
{
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|
return GeomTraits().less_y_3_object()( internal::Primitive_helper<AT>::get_reference_point(pr1,traits),
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internal::Primitive_helper<AT>::get_reference_point(pr2,traits) );
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|
}
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static bool less_z(const Primitive& pr1, const Primitive& pr2,const AABB_traits<GeomTraits,AABBPrimitive, BboxMap>& traits)
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|
{
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|
return GeomTraits().less_z_3_object()( internal::Primitive_helper<AT>::get_reference_point(pr1,traits),
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internal::Primitive_helper<AT>::get_reference_point(pr2,traits) );
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}
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|
|
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}; // end class AABB_traits
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|
|
|
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|
//-------------------------------------------------------
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|
// Private methods
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|
//-------------------------------------------------------
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|
template<typename GT, typename P, typename B>
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|
typename AABB_traits<GT,P,B>::Axis
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AABB_traits<GT,P,B>::longest_axis(const Bounding_box& bbox)
|
|
{
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|
const double dx = bbox.xmax() - bbox.xmin();
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|
const double dy = bbox.ymax() - bbox.ymin();
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const double dz = bbox.zmax() - bbox.zmin();
|
|
|
|
if(dx>=dy)
|
|
{
|
|
if(dx>=dz)
|
|
{
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|
return CGAL_AXIS_X;
|
|
}
|
|
else // dz>dx and dx>=dy
|
|
{
|
|
return CGAL_AXIS_Z;
|
|
}
|
|
}
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|
else // dy>dx
|
|
{
|
|
if(dy>=dz)
|
|
{
|
|
return CGAL_AXIS_Y;
|
|
}
|
|
else // dz>dy and dy>dx
|
|
{
|
|
return CGAL_AXIS_Z;
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|
}
|
|
}
|
|
}
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|
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/// @}
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|
|
|
} // end namespace CGAL
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|
|
|
#include <CGAL/enable_warnings.h>
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|
|
|
#endif // CGAL_AABB_TRAITS_H_
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