SPAR/AIModule/BWTA/vendors/CGAL/CGAL/Ray_2_Triangle_2_intersection.h

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// Copyright (c) 2000  Utrecht University (The Netherlands),
// ETH Zurich (Switzerland), Freie Universitaet Berlin (Germany),
// INRIA Sophia-Antipolis (France), Martin-Luther-University Halle-Wittenberg
// (Germany), Max-Planck-Institute Saarbruecken (Germany), RISC Linz (Austria),
// and Tel-Aviv University (Israel).  All rights reserved.
//
// This file is part of CGAL (www.cgal.org); you can redistribute it and/or
// modify it under the terms of the GNU Lesser General Public License as
// published by the Free Software Foundation; version 2.1 of the License.
// See the file LICENSE.LGPL distributed with CGAL.
//
// Licensees holding a valid commercial license may use this file in
// accordance with the commercial license agreement provided with the software.
//
// This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
// WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
//
// $URL: svn+ssh://scm.gforge.inria.fr/svn/cgal/branches/CGAL-3.5-branch/Intersections_2/include/CGAL/Ray_2_Triangle_2_intersection.h $
// $Id: Ray_2_Triangle_2_intersection.h 45046 2008-08-20 13:49:31Z spion $
// 
//
// Author(s)     : Geert-Jan Giezeman


#ifndef CGAL_RAY_2_TRIANGLE_2_INTERSECTION_H
#define CGAL_RAY_2_TRIANGLE_2_INTERSECTION_H

#include <CGAL/Segment_2.h>
#include <CGAL/Ray_2.h>
#include <CGAL/Triangle_2.h>
#include <CGAL/Point_2.h>
#include <CGAL/Line_2.h>
#include <CGAL/kernel_assertions.h>
#include <CGAL/number_utils.h>
#include <CGAL/Straight_2.h>



#include <CGAL/Object.h>

CGAL_BEGIN_NAMESPACE

namespace CGALi {

template <class K>
class Ray_2_Triangle_2_pair {
public:
    enum Intersection_results {NO_INTERSECTION, POINT, SEGMENT};
    Ray_2_Triangle_2_pair(typename K::Ray_2 const *ray,
                          typename K::Triangle_2 const *trian)
            : _ray(ray), _trian(trian), _known(false) {}

    Intersection_results intersection_type() const;

    typename K::Point_2    intersection_point() const;
    typename K::Segment_2  intersection_segment() const;
protected:
    typename K::Ray_2 const* _ray;
    typename K::Triangle_2 const *  _trian;
    mutable bool                    _known;
    mutable Intersection_results     _result;
    mutable typename K::Point_2         _intersection_point;
    mutable typename K::Point_2         _other_point;
};



template <class K>
typename Ray_2_Triangle_2_pair<K>::Intersection_results
Ray_2_Triangle_2_pair<K>::intersection_type() const
{
  typedef typename K::Line_2  Line_2;
    if (_known)
        return _result;
// The non const this pointer is used to cast away const.
    _known = true;
    Straight_2_<K> straight(*_ray);
    Line_2 l(_trian->vertex(0), _trian->vertex(1));
if (l.oriented_side(_trian->vertex(2)) == ON_POSITIVE_SIDE) {
//    if (_trian->is_counterclockwise()) {
        straight.cut_right_off(
            Line_2(_trian->vertex(0), _trian->vertex(1)));
        straight.cut_right_off(
            Line_2(_trian->vertex(1), _trian->vertex(2)));
        straight.cut_right_off(
            Line_2(_trian->vertex(2), _trian->vertex(0)));
    } else {
        straight.cut_right_off(
            Line_2(_trian->vertex(2), _trian->vertex(1)));
        straight.cut_right_off(
            Line_2(_trian->vertex(1), _trian->vertex(0)));
        straight.cut_right_off(
            Line_2(_trian->vertex(0), _trian->vertex(2)));
    }
    switch (straight.current_state()) {
    case Straight_2_<K>::EMPTY:
        _result = NO_INTERSECTION;
        return _result;
    case Straight_2_<K>::POINT: {
        straight.current(_intersection_point);
        _result = POINT;
        return _result;
        }
    case Straight_2_<K>::SEGMENT: {
        typename K::Segment_2 seg;
        straight.current(seg);
        _intersection_point = seg.source();
        _other_point = seg.target();
        _result = SEGMENT;
        return _result;
        }
    default:  // should not happen.
        CGAL_kernel_assertion_msg(false, "Internal CGAL error.");
        _result = NO_INTERSECTION;
        return _result;
    }
}


template <class K>
typename K::Point_2
Ray_2_Triangle_2_pair<K>::
intersection_point() const
{
    if (!_known)
        intersection_type();
    CGAL_kernel_assertion(_result == POINT);
    return _intersection_point;
}

template <class K>
typename K::Segment_2
Ray_2_Triangle_2_pair<K>::
intersection_segment() const
{
  typedef typename K::Segment_2 Segment_2;
    if (!_known)
        intersection_type();
    CGAL_kernel_assertion(_result == SEGMENT);
    return Segment_2(_intersection_point, _other_point);
}





template <class K>
Object
intersection(const typename K::Ray_2 &ray, 
             const typename K::Triangle_2&tr,
             const K&)
{
    typedef Ray_2_Triangle_2_pair<K> is_t;
    is_t ispair(&ray, &tr);
    switch (ispair.intersection_type()) {
    case is_t::NO_INTERSECTION:
    default:
        return Object();
    case is_t::POINT:
        return make_object(ispair.intersection_segment());
    case is_t::SEGMENT:
        return make_object(ispair.intersection_segment());
    }
}

template <class K>
Object
intersection(const typename K::Triangle_2&tr,
             const typename K::Ray_2 &ray, 
             const K& k)
{
  return CGALi::intersection(ray, tr, k);
}



template <class K>
inline bool do_intersect(
    const typename K::Ray_2 &p1,
    const typename K::Triangle_2 &p2,
    const K&)
{
    typedef Ray_2_Triangle_2_pair<K> pair_t;
    pair_t pair(&p1, &p2);
    return pair.intersection_type() != pair_t::NO_INTERSECTION;
}


template <class K>
inline bool do_intersect(
    const typename K::Triangle_2 &p1,
    const typename K::Ray_2 &p2,
    const K&)
{
    typedef Ray_2_Triangle_2_pair<K> pair_t;
    pair_t pair(&p2, &p1);
    return pair.intersection_type() != pair_t::NO_INTERSECTION;
}

} // namespace CGALi


template <class K>
inline bool do_intersect(const Triangle_2<K> &tr,
                         const Ray_2<K> &ray)
{
  typedef typename K::Do_intersect_2 Do_intersect;
  return Do_intersect()(ray, tr);
}

template <class K>
inline bool do_intersect(const Ray_2<K> &ray,
                         const Triangle_2<K> &tr)
{
  typedef typename K::Do_intersect_2 Do_intersect;
  return Do_intersect()(ray, tr);
}

template <class K>
inline Object
intersection(const Ray_2<K> &ray, const Triangle_2<K> &tr)
{
  typedef typename K::Intersect_2 Intersect;
  return Intersect()(ray, tr);
}

template <class K>
inline Object
intersection(const Triangle_2<K> &tr, const Ray_2<K> &ray)
{
  typedef typename K::Intersect_2 Intersect;
  return Intersect()(ray, tr);
}

CGAL_END_NAMESPACE

#endif