CGAL 6.1 - Fast Intersection and Distance Computation (AABB Tree)

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AABB_tree/AABB_ray_shooting_example.cpp
#include <CGAL/Simple_cartesian.h>
#include <CGAL/Surface_mesh.h>
#include <CGAL/AABB_tree.h>
#include <CGAL/AABB_traits_3.h>
#include <CGAL/AABB_face_graph_triangle_primitive.h>
#include <CGAL/Polygon_mesh_processing/compute_normal.h>
#include <CGAL/Polygon_mesh_processing/orientation.h>
#include <iostream>
#include <fstream>
typedef CGAL::Simple_cartesian<double> K;
typedef K::FT FT;
typedef K::Point_3 Point;
typedef K::Vector_3 Vector;
typedef K::Ray_3 Ray;
typedef CGAL::Surface_mesh<Point> Mesh;
typedef boost::graph_traits<Mesh>::face_descriptor face_descriptor;
typedef boost::graph_traits<Mesh>::halfedge_descriptor halfedge_descriptor;
typedef CGAL::AABB_face_graph_triangle_primitive<Mesh> Primitive;
typedef CGAL::AABB_traits_3<K, Primitive> Traits;
typedef CGAL::AABB_tree<Traits> Tree;
typedef std::optional<Tree::Intersection_and_primitive_id<Ray>::Type> Ray_intersection;
struct Skip
{
face_descriptor fd;
Skip(const face_descriptor fd)
: fd(fd)
{}
bool operator()(const face_descriptor& t) const
{ if(t == fd){
std::cerr << "ignore " << t <<std::endl;
};
return(t == fd);
}
};
int main(int argc, char* argv[])
{
const std::string filename = (argc > 1) ? argv[1] : CGAL::data_file_path("meshes/tetrahedron.off");
Mesh mesh;
if(!CGAL::IO::read_polygon_mesh(filename, mesh))
{
std::cerr << "Invalid input." << std::endl;
return 1;
}
Tree tree(faces(mesh).first, faces(mesh).second, mesh);
double d = CGAL::Polygon_mesh_processing::is_outward_oriented(mesh)?-1:1;
for(face_descriptor fd : faces(mesh))
{
halfedge_descriptor hd = halfedge(fd,mesh);
Point p = CGAL::centroid(mesh.point(source(hd,mesh)),
mesh.point(target(hd,mesh)),
mesh.point(target(next(hd,mesh),mesh)));
Vector v = CGAL::Polygon_mesh_processing::compute_face_normal(fd,mesh);
Ray ray(p,d * v);
Skip skip(fd);
Ray_intersection intersection = tree.first_intersection(ray, skip);
if(intersection)
{
if(std::get_if<Point>(&(intersection->first))){
const Point* p = std::get_if<Point>(&(intersection->first) );
std::cout << *p << std::endl;
}
}
}
std::cerr << "done" << std::endl;
return 0;
}
CGAL::AABB_face_graph_triangle_primitive
Primitive type for a facet of a polyhedral surface.
Definition: AABB_face_graph_triangle_primitive.h:75
CGAL::AABB_traits_3
This traits class handles any type of 3D geometric primitives provided that the proper intersection t...
Definition: AABB_traits_3.h:172
CGAL::AABB_tree
Static data structure for efficient intersection and distance computations in 2D and 3D.
Definition: AABB_tree.h:57
CGAL::IO::read_polygon_mesh
bool read_polygon_mesh(const std::string &fname, Graph &g, const NamedParameters &np=parameters::default_values())
CGAL::centroid
CGAL::Point_2< Kernel > centroid(const CGAL::Point_2< Kernel > &p, const CGAL::Point_2< Kernel > &q, const CGAL::Point_2< Kernel > &r)
CGAL::intersection
decltype(auto) intersection(Type1< Kernel > obj1, Type2< Kernel > obj2)
CGAL::Simple_cartesian