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#include <iostream>
#include <vector>
#include <array>
#include <CGAL/Simple_cartesian.h>
#include <CGAL/AABB_tree.h>
#include <CGAL/AABB_traits_2.h>
#include <CGAL/AABB_indexed_triangle_primitive_2.h>
typedef CGAL::Simple_cartesian<double> K;
typedef K::Point_3 Point_3;
typedef K::Point_2 Point_2;
typedef K::Ray_2 Ray;
template <class GeomTraits>
struct Projection_xy_point_map {
typedef typename GeomTraits::Point_3 key_type;
typedef typename GeomTraits::Point_2 value_type;
typedef value_type reference;
typedef boost::readable_property_map_tag category;
typedef Projection_xy_point_map<GeomTraits> Self;
Projection_xy_point_map() {}
inline friend value_type get(Self, key_type p)
{
return value_type(p.x(), p.y());
}
};
typedef std::vector<std::array<uint8_t, 3> >::const_iterator IndexIterator;
typedef std::vector<Point_3> PointRange;
typedef CGAL::AABB_indexed_triangle_primitive_2<K, IndexIterator, PointRange, CGAL::Tag_false, Projection_xy_point_map<K>> Primitive;
typedef CGAL::AABB_traits_2<K, Primitive> AABB_triangle_traits;
typedef CGAL::AABB_tree<AABB_triangle_traits> Tree;
typedef Tree::Point_and_primitive_id Point_and_primitive_id;
typedef std::optional<Tree::Intersection_and_primitive_id<Ray>::Type> Ray_intersection;
int main()
{
Point_3 a(0.0, 0.0, 0.0);
Point_3 b(0.0, 1.0, 0.0);
Point_3 c(1.0, 0.0, 0.0);
Point_3 d(1.0, 1.0, 0.0);
Point_3 e(2.0, 0.0, 0.0);
Point_3 f(2.0, 1.0, 0.0);
std::vector<Point_3> points = { a, b, c, d, e, f };
std::vector<std::array<uint8_t, 3> > triangles;
triangles.push_back({ 0, 2, 1 });
triangles.push_back({ 1, 2, 3 });
triangles.push_back({ 3, 2, 4 });
triangles.push_back({ 3, 4, 5 });
// constructs AABB tree
Tree tree(triangles.begin(), triangles.end(), points);
// point sampling
Point_and_primitive_id id;
id = tree.closest_point_and_primitive(Point_2(0.5, 0.4));
std::cout << std::distance(triangles.cbegin(), id.second) << ". triangle" << std::endl;
id = tree.closest_point_and_primitive(Point_2(0.5, 0.6));
std::cout << std::distance(triangles.cbegin(), id.second) << ". triangle" << std::endl;
id = tree.closest_point_and_primitive(Point_2(1.5, 0.5));
std::cout << std::distance(triangles.cbegin(), id.second) << ". triangle" << std::endl;
id = tree.closest_point_and_primitive(Point_2(1.5, 0.6));
std::cout << std::distance(triangles.cbegin(), id.second) << ". triangle" << std::endl;
id = tree.closest_point_and_primitive(Point_2(1.0, 0.0));
std::cout << std::distance(triangles.cbegin(), id.second) << ". triangle" << std::endl;
id = tree.closest_point_and_primitive(Point_2(3.0, 0.5));
std::cout << std::distance(triangles.cbegin(), id.second) << ". triangle" << std::endl;
Ray ray(Point_2(5.5, 0.5), Point_2(1.5, 0.5));
Ray_intersection intersection = tree.first_intersection(ray);
if (!intersection) {
std::cout << "Ray does not intersect with triangles although it should!" << std::endl;
return EXIT_FAILURE;
}
else {
std::cout << std::distance(triangles.cbegin(), intersection->second) << ". triangle" << std::endl;
}
std::list<Ray_intersection> intersections;
tree.all_intersections(ray, std::back_inserter(intersections));
return EXIT_SUCCESS;
}
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