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Improves geometry tools robustness and accuracy
* Replace asserts with alternatives * Refactors GeometryTools for improved robustness
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Magne Sjaastad authored and 
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@@ -239,30 +239,20 @@ GeometryTools::IntersectionStatus inPlaneLineIntersect( double x1,
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double y4,
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double l1NormalizedTolerance,
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double l2NormalizedTolerance,
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double* x,
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double* y,
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double* fractionAlongLine1,
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double* fractionAlongLine2 )
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double& x,
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double& y,
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double& fractionAlongLine1,
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double& fractionAlongLine2 )
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{
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double mua, mub;
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double denom, numera, numerb;
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denom = ( y4 - y3 ) * ( x2 - x1 ) - ( x4 - x3 ) * ( y2 - y1 );
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numera = ( x4 - x3 ) * ( y1 - y3 ) - ( y4 - y3 ) * ( x1 - x3 );
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numerb = ( x2 - x1 ) * ( y1 - y3 ) - ( y2 - y1 ) * ( x1 - x3 );
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auto denom = ( y4 - y3 ) * ( x2 - x1 ) - ( x4 - x3 ) * ( y2 - y1 );
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auto numera = ( x4 - x3 ) * ( y1 - y3 ) - ( y4 - y3 ) * ( x1 - x3 );
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auto numerb = ( x2 - x1 ) * ( y1 - y3 ) - ( y2 - y1 ) * ( x1 - x3 );
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double EPS = 1e-40;
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// Are the line coincident?
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if ( fabs( numera ) < EPS && fabs( numerb ) < EPS && fabs( denom ) < EPS )
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{
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#if 0
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*x = 0;
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*y = 0;
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*fractionAlongLine1 = 0;
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*fractionAlongLine2 = 0;
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return GeometryTools::LINES_OVERLAP;
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#else
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cvf::Vec3d p12( x2 - x1, y2 - y1, 0 );
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cvf::Vec3d p13( x3 - x1, y3 - y1, 0 );
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cvf::Vec3d p34( x4 - x3, y4 - y3, 0 );
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@@ -274,10 +264,10 @@ GeometryTools::IntersectionStatus inPlaneLineIntersect( double x1,
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if ( length12 < EPS )
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{
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*x = x1;
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*y = y1;
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*fractionAlongLine1 = 1;
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*fractionAlongLine2 = p13.length() / p34.length();
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x = x1;
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y = y1;
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fractionAlongLine1 = 1;
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fractionAlongLine2 = p13.length() / p34.length();
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return GeometryTools::LINES_OVERLAP;
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}
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@@ -292,10 +282,10 @@ GeometryTools::IntersectionStatus inPlaneLineIntersect( double x1,
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if ( ( normDist13 < 0 - l1NormalizedTolerance && normDist14 < 0 - l1NormalizedTolerance ) ||
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( normDist13 > 1 + l1NormalizedTolerance && normDist14 > 1 + l1NormalizedTolerance ) )
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{
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*x = 0;
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*y = 0;
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*fractionAlongLine1 = 0;
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*fractionAlongLine2 = 0;
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x = 0;
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y = 0;
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fractionAlongLine1 = 0;
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fractionAlongLine2 = 0;
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return GeometryTools::NO_INTERSECTION;
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}
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@@ -311,68 +301,67 @@ GeometryTools::IntersectionStatus inPlaneLineIntersect( double x1,
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if ( pt3IsInside && !pt4IsInside )
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{
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*fractionAlongLine1 = normDist13;
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*fractionAlongLine2 = 0.0;
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*x = x3;
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*y = y3;
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fractionAlongLine1 = normDist13;
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fractionAlongLine2 = 0.0;
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x = x3;
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y = y3;
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}
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else if ( pt4IsInside && !pt3IsInside )
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{
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*fractionAlongLine1 = normDist14;
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*fractionAlongLine2 = 1.0;
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*x = x4;
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*y = y4;
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fractionAlongLine1 = normDist14;
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fractionAlongLine2 = 1.0;
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x = x4;
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y = y4;
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}
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else if ( pt3IsInside && pt4IsInside )
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{
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// Return edge 2 vertex furthest along edge 1
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if ( normDist13 <= normDist14 )
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{
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*fractionAlongLine1 = normDist14;
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*fractionAlongLine2 = 1.0;
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*x = x4;
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*y = y4;
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fractionAlongLine1 = normDist14;
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fractionAlongLine2 = 1.0;
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x = x4;
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y = y4;
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}
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else
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{
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*fractionAlongLine1 = normDist13;
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*fractionAlongLine2 = 0.0;
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*x = x3;
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*y = y3;
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fractionAlongLine1 = normDist13;
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fractionAlongLine2 = 0.0;
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x = x3;
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y = y3;
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}
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}
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else // both outside on each side
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{
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// Return End of edge 1
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*fractionAlongLine1 = 1.0;
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*fractionAlongLine2 = normDist32;
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*x = x2;
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*y = y2;
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fractionAlongLine1 = 1.0;
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fractionAlongLine2 = normDist32;
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x = x2;
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y = y2;
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}
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return GeometryTools::LINES_OVERLAP;
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#endif
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}
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/* Are the line parallel */
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if ( fabs( denom ) < EPS )
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{
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*x = 0;
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*y = 0;
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*fractionAlongLine1 = 0;
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*fractionAlongLine2 = 0;
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x = 0;
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y = 0;
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fractionAlongLine1 = 0;
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fractionAlongLine2 = 0;
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return GeometryTools::NO_INTERSECTION;
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}
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/* Is the intersection along the the segments */
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mua = numera / denom;
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mub = numerb / denom;
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auto mua = numera / denom;
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auto mub = numerb / denom;
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*x = x1 + mua * ( x2 - x1 );
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*y = y1 + mua * ( y2 - y1 );
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*fractionAlongLine1 = mua;
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*fractionAlongLine2 = mub;
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x = x1 + mua * ( x2 - x1 );
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y = y1 + mua * ( y2 - y1 );
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fractionAlongLine1 = mua;
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fractionAlongLine2 = mub;
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if ( mua < 0 - l1NormalizedTolerance || 1 + l1NormalizedTolerance < mua || mub < 0 - l2NormalizedTolerance ||
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1 + l2NormalizedTolerance < mub )
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@@ -382,10 +371,10 @@ GeometryTools::IntersectionStatus inPlaneLineIntersect( double x1,
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else if ( fabs( mua ) < l1NormalizedTolerance || fabs( 1 - mua ) < l1NormalizedTolerance || fabs( mub ) < l2NormalizedTolerance ||
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fabs( 1 - mub ) < l2NormalizedTolerance )
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{
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if ( fabs( mua ) < l1NormalizedTolerance ) *fractionAlongLine1 = 0;
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if ( fabs( 1 - mua ) < l1NormalizedTolerance ) *fractionAlongLine1 = 1;
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if ( fabs( mub ) < l2NormalizedTolerance ) *fractionAlongLine2 = 0;
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if ( fabs( 1 - mub ) < l2NormalizedTolerance ) *fractionAlongLine2 = 1;
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if ( fabs( mua ) < l1NormalizedTolerance ) fractionAlongLine1 = 0;
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if ( fabs( 1 - mua ) < l1NormalizedTolerance ) fractionAlongLine1 = 1;
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if ( fabs( mub ) < l2NormalizedTolerance ) fractionAlongLine2 = 0;
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if ( fabs( 1 - mub ) < l2NormalizedTolerance ) fractionAlongLine2 = 1;
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return GeometryTools::LINES_TOUCH;
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}
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else
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@@ -403,13 +392,11 @@ GeometryTools::IntersectionStatus GeometryTools::inPlaneLineIntersect3D( const c
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const cvf::Vec3d& p2,
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const cvf::Vec3d& p3,
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const cvf::Vec3d& p4,
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cvf::Vec3d* intersectionPoint,
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double* fractionAlongLine1,
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double* fractionAlongLine2,
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cvf::Vec3d& intersectionPoint,
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double& fractionAlongLine1,
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double& fractionAlongLine2,
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double tolerance )
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{
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CVF_ASSERT( intersectionPoint != nullptr );
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int Z = findClosestAxis( planeNormal );
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int X = ( Z + 1 ) % 3;
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int Y = ( Z + 2 ) % 3;
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@@ -420,16 +407,16 @@ GeometryTools::IntersectionStatus GeometryTools::inPlaneLineIntersect3D( const c
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double l2NormTol = tolerance / ( p4 - p3 ).length();
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IntersectionStatus intersectionStatus =
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inPlaneLineIntersect( p1[X], p1[Y], p2[X], p2[Y], p3[X], p3[Y], p4[X], p4[Y], l1NormTol, l2NormTol, &x, &y, fractionAlongLine1, fractionAlongLine2 );
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inPlaneLineIntersect( p1[X], p1[Y], p2[X], p2[Y], p3[X], p3[Y], p4[X], p4[Y], l1NormTol, l2NormTol, x, y, fractionAlongLine1, fractionAlongLine2 );
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// Check if we have a valid intersection point
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if ( intersectionStatus == NO_INTERSECTION || intersectionStatus == LINES_OVERLAP )
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{
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intersectionPoint->setZero();
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intersectionPoint.setZero();
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}
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else
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{
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*intersectionPoint = p1 + ( *fractionAlongLine1 ) * ( p2 - p1 );
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intersectionPoint = p1 + ( fractionAlongLine1 ) * ( p2 - p1 );
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}
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return intersectionStatus;
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