Updating the AABB-tree to work in both 2D and 3D

AABB_tree/benchmark/AABB_tree/test.cpp

@@ -1,13 +1,13 @@
-#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
+#include <CGAL/Exact_predicates_inexact_constructions_kernel.h>
 #include <CGAL/Surface_mesh.h>
 
 #include <CGAL/Polygon_mesh_processing/intersection.h>
 #include <CGAL/Polygon_mesh_processing/transform.h>
 
 #include <CGAL/boost/graph/copy_face_graph.h>
 #include <CGAL/AABB_tree.h>
-#include <CGAL/AABB_traits.h>
-#include <CGAL/Polygon_mesh_processing/internal/AABB_do_intersect_transform_traits.h>
+#include <CGAL/AABB_traits_3.h>
+#include <CGAL/Rigid_triangle_mesh_collision_detection.h>
 #include <CGAL/AABB_face_graph_triangle_primitive.h>
 #include <CGAL/Side_of_triangle_mesh.h>
 
@@ -18,12 +18,12 @@ typedef CGAL::Exact_predicates_inexact_constructions_kernel K;
 typedef CGAL::Surface_mesh<K::Point_3>             Surface_mesh;
 
 typedef CGAL::AABB_face_graph_triangle_primitive<Surface_mesh> Primitive;
-typedef CGAL::AABB_do_intersect_transform_traits<K, Primitive> Traits;
+typedef CGAL::AABB_traits_3<K, Primitive> Traits;
 typedef CGAL::AABB_tree<Traits> Tree;
 
 namespace PMP = CGAL::Polygon_mesh_processing;
 
-void naive_test(int k, const char* fname,
+void naive_test(int k, const std::string& fname,
                 int& nb_inter, int& nb_no_inter, int& nb_include)
 {
   std::ifstream input(fname);
@@ -33,7 +33,7 @@ void naive_test(int k, const char* fname,
   CGAL::Aff_transformation_3<K> init1(CGAL::SCALING, 6.0);
   PMP::transform(init1, tm);
   CGAL::Bbox_3 box = PMP::bbox(tm);
-  typedef CGAL::AABB_tree<CGAL::AABB_traits<K, Primitive> > Tree;
+
   Tree tmTree(tm.faces_begin(), tm.faces_end(), tm);
   Tree tmTree2(tm2.faces_begin(), tm2.faces_end(), tm2);
   CGAL::Aff_transformation_3<K> init2(CGAL::TRANSLATION, - K::Vector_3(
@@ -86,7 +86,8 @@ void naive_test(int k, const char* fname,
     T0 = CGAL::Aff_transformation_3<K>(CGAL::TRANSLATION, -i*unit_vec);
   }
 }
-void test_no_collision(int k, const char* fname,
+
+void test_no_collision(int k, const std::string &fname,
                        int& nb_inter, int& nb_no_inter, int& nb_include)
 {
   std::ifstream input(fname);
@@ -97,9 +98,11 @@ void test_no_collision(int k, const char* fname,
   PMP::transform(init1, tm);
   CGAL::Bbox_3 box = PMP::bbox(tm);
   Tree tmTree(tm.faces_begin(), tm.faces_end(), tm);
+
   Tree tmTree2(tm2.faces_begin(), tm2.faces_end(), tm2);
   CGAL::Aff_transformation_3<K> init2(CGAL::TRANSLATION, - K::Vector_3(
                                         (box.xmax()-box.xmin()),0,0));
+
   PMP::transform(init2, tm2);
 
   tmTree.build();
@@ -113,6 +116,12 @@ void test_no_collision(int k, const char* fname,
 
   CGAL::Side_of_triangle_mesh<Surface_mesh, K,
       VPM, Tree> sotm1(tmTree);
+
+  CGAL::Rigid_triangle_mesh_collision_detection<Surface_mesh> collision_detection;
+
+  collision_detection.add_mesh(tm);
+  collision_detection.add_mesh(tm2);
+
   for(int i=1; i<k+1; ++i)
   {
     K::FT rot[9];
@@ -130,47 +139,37 @@ void test_no_collision(int k, const char* fname,
         rot[6], rot[7], rot[8]);
     CGAL::Aff_transformation_3<K> T1 = CGAL::Aff_transformation_3<K>(CGAL::TRANSLATION, i*unit_vec);
     CGAL::Aff_transformation_3<K> transfo = R*T1;
-    tmTree2.traits().set_transformation(transfo);
-    CGAL::Interval_nt_advanced::Protector protector;
-    if(tmTree2.do_intersect(tmTree))
+
+    collision_detection.set_transformation(1, transfo);
+
+    std::vector< std::pair<std::size_t, bool> > res = collision_detection.get_all_intersections_and_inclusions(0);
+
+    if (res.empty())
+      nb_no_inter++;
+    else if(!res[0].second)
       ++nb_inter;
     else
-    {
-      if(sotm1(transfo.transform(vpm2[*tm2.vertices().begin()])) != CGAL::ON_UNBOUNDED_SIDE)
-      {
-        ++nb_include;
-      }
-      else
-      {
-        CGAL::Side_of_triangle_mesh<Surface_mesh, K,
-            VPM, Tree> sotm2(tmTree2);
-        if(sotm2(tm.point(*tm.vertices().begin())) != CGAL::ON_UNBOUNDED_SIDE)
-          ++nb_include;
-        else
-          ++nb_no_inter;
-      }
-    }
+      ++nb_include;
   }
 }
 
 int main(int argc, const char** argv)
 {
-  int k = (argc>1) ? atoi(argv[1]) : 10;
-  const char* path = (argc>2)?argv[2]:"data/handle"
-                                      ".off";
+  int k = (argc>1) ? atoi(argv[1]) : 20;
+  std::string path = (argc>2)?argv[2]: CGAL::data_file_path("meshes/handle.off");
 
   std::cout<< k<<" steps in "<<path<<std::endl;
   int nb_inter(0), nb_no_inter(0), nb_include(0),
       naive_inter(0), naive_no_inter(0), naive_include(0);
   auto start = std::chrono::steady_clock::now();
   naive_test(k, path, naive_inter, naive_no_inter, naive_include);
   auto end = std::chrono::steady_clock::now();
-  std::cout<<"Naive test            :"<<naive_inter<<" collisions, "<<naive_include<<" inclusions, "<<naive_no_inter<<" no collision, calculated in "
-          <<std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() << "μs." << std::endl;
+  std::cout<<"Naive test           : "<<naive_inter<<" collisions, "<<naive_include<<" inclusions, "<<naive_no_inter<<" no collision, calculated in "
+          <<std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << " ms." << std::endl;
   start = std::chrono::steady_clock::now();
   test_no_collision(k, path,nb_inter, nb_no_inter, nb_include);
   end = std::chrono::steady_clock::now();
   std::cout<<"With transform_traits: "<<nb_inter<<" collisions, "<<nb_include<<" inclusions, "<<nb_no_inter<<" no collision, calculated in "
-          <<std::chrono::duration_cast<std::chrono::microseconds>(end - start).count() << "μs." << std::endl;
+          <<std::chrono::duration_cast<std::chrono::milliseconds>(end - start).count() << " ms." << std::endl;
     return 0;
 }

AABB_tree/demo/AABB_tree/Scene.cpp

@@ -867,7 +867,7 @@ void Scene::generate_points_in(const unsigned int nb_points,
     }
 
     typedef CGAL::AABB_face_graph_triangle_primitive<Polyhedron> Primitive;
-    typedef CGAL::AABB_traits<Kernel, Primitive> Traits;
+    typedef CGAL::AABB_traits_3<Kernel, Primitive> Traits;
     typedef CGAL::AABB_tree<Traits> Tree;
 
     std::cout << "Construct AABB tree...";
@@ -920,7 +920,7 @@ void Scene::generate_inside_points(const unsigned int nb_points)
     }
 
     typedef CGAL::AABB_face_graph_triangle_primitive<Polyhedron> Primitive;
-    typedef CGAL::AABB_traits<Kernel, Primitive> Traits;
+    typedef CGAL::AABB_traits_3<Kernel, Primitive> Traits;
     typedef CGAL::AABB_tree<Traits> Tree;
 
     std::cout << "Construct AABB tree...";
@@ -962,7 +962,7 @@ void Scene::generate_boundary_segments(const unsigned int nb_slices)
     }
 
     typedef CGAL::AABB_face_graph_triangle_primitive<Polyhedron> Primitive;
-    typedef CGAL::AABB_traits<Kernel, Primitive> Traits;
+    typedef CGAL::AABB_traits_3<Kernel, Primitive> Traits;
     typedef CGAL::AABB_tree<Traits> Tree;
     typedef Tree::Object_and_primitive_id Object_and_primitive_id;
 
@@ -1012,7 +1012,7 @@ void Scene::generate_boundary_points(const unsigned int nb_points)
     }
 
     typedef CGAL::AABB_face_graph_triangle_primitive<Polyhedron> Primitive;
-    typedef CGAL::AABB_traits<Kernel, Primitive> Traits;
+    typedef CGAL::AABB_traits_3<Kernel, Primitive> Traits;
     typedef CGAL::AABB_tree<Traits> Tree;
     typedef Tree::Object_and_primitive_id Object_and_primitive_id;
 
@@ -1062,7 +1062,7 @@ void Scene::generate_edge_points(const unsigned int nb_points)
     }
 
     typedef CGAL::AABB_halfedge_graph_segment_primitive<Polyhedron> Primitive;
-    typedef CGAL::AABB_traits<Kernel, Primitive> Traits;
+    typedef CGAL::AABB_traits_3<Kernel, Primitive> Traits;
     typedef CGAL::AABB_tree<Traits> Tree;
     typedef Tree::Object_and_primitive_id Object_and_primitive_id;
 

AABB_tree/demo/AABB_tree/Scene.h

@@ -9,7 +9,7 @@
 #include "Color_ramp.h"
 
 #include <CGAL/AABB_tree.h>
-#include <CGAL/AABB_traits.h>
+#include <CGAL/AABB_traits_3.h>
 #include <CGAL/boost/graph/graph_traits_Polyhedron_3.h>
 #include <CGAL/AABB_halfedge_graph_segment_primitive.h>
 #include <CGAL/AABB_face_graph_triangle_primitive.h>
@@ -62,11 +62,11 @@ class Scene : public QObject
 
 private:
     typedef CGAL::AABB_face_graph_triangle_primitive<Polyhedron>         Facet_Primitive;
-    typedef CGAL::AABB_traits<Kernel, Facet_Primitive>                  Facet_Traits;
+    typedef CGAL::AABB_traits_3<Kernel, Facet_Primitive>                  Facet_Traits;
     typedef CGAL::AABB_tree<Facet_Traits>                               Facet_tree;
 
     typedef CGAL::AABB_halfedge_graph_segment_primitive<Polyhedron>     Edge_Primitive;
-    typedef CGAL::AABB_traits<Kernel, Edge_Primitive>                   Edge_Traits;
+    typedef CGAL::AABB_traits_3<Kernel, Edge_Primitive>                 Edge_Traits;
     typedef CGAL::AABB_tree<Edge_Traits>                                Edge_tree;
 
     typedef CGAL::qglviewer::ManipulatedFrame ManipulatedFrame;

AABB_tree/doc/AABB_tree/Concepts/AABBGeomTraits_2.h

@@ -0,0 +1,177 @@
+
+/*!
+\ingroup PkgAABBTreeConcepts
+\cgalConcept
+
+The concept `AABBGeomTraits_2` defines the requirements for the first template parameter of the class
+`CGAL::AABB_traits_2<AABBGeomTraits_2, AABBPrimitive>`. It provides predicates and constructors to detect
+and compute intersections between query objects and the primitives stored in the AABB tree.
+In addition, it contains predicates and constructors to compute distances between a point query
+and the primitives stored in the AABB tree.
+
+\cgalRefines{SearchGeomTraits_2}
+
+\cgalHasModelsBegin
+\cgalHasModelsBare{All models of the concept `Kernel`}
+\cgalHasModelsEnd
+
+\sa `CGAL::AABB_traits_2<AABBGeomTraits_2,AABBPrimitive>`
+\sa `CGAL::AABB_tree<AABBTraits>`
+\sa `AABBPrimitive`
+
+*/
+
+class AABBGeomTraits_2 {
+public:
+
+/// \name Types
+/// @{
+
+/*!
+A functor object to detect intersections between two geometric objects.
+Provides the following operators:
+
+`bool operator()(const Query& q, const Bbox_2& b)`,
+
+`bool operator()(const Query& q, const Primitive::Datum& d)`,
+
+`bool operator()(const Circle_2& c, const Bbox_2& b)`.
+
+The operator returns `true` iff there is an intersection.
+*/
+typedef unspecified_type Do_intersect_2;
+
+/*!
+A functor object to construct the intersection between two geometric objects.
+
+Provides the operator:
+
+`return_type operator()(const Query& q, const Primitive::Datum& d)`,
+
+which computes the intersection between `q` and `d`. The type of the returned object
+must be a `std::optional` of a `std::variant` of the possible intersection types.
+*/
+typedef unspecified_type Intersect_2;
+
+/*!
+A functor object to construct the circle centered at one point and passing through another one.
+Provides the operator:
+
+`Circle_2 operator()(const Point_2& p, const FT & sr)`,
+
+which returns the circle centered at `p` with `sr` as squared radius.
+*/
+typedef unspecified_type Construct_circle_2;
+
+/*!
+A functor object to compute the point on a geometric primitive which is closest from a query point.
+Provides the operator:
+
+`Point_2 operator()(const Primitive::Datum& d, const Point_2& p)`,
+
+which returns the point on `d` that is closest to `p`.
+*/
+typedef unspecified_type Construct_projected_point_2;
+
+/*!
+A functor object to compare the distance of two points wrt a third one. Provides the operator:
+
+`CGAL::Comparison_result operator()(const Point_2& p1, const Point_2& p2, const Point_2& p3)`,
+
+which compares the distance between `p1` and `p2`, to the distance between `p1` and `p3`.
+*/
+typedef unspecified_type Compare_distance_2;
+
+
+/*!
+A functor object to compute the squared distance between two points. Provides the operator:
+
+`FT operator()(const Point_2& p, const Point_2& q),`
+
+which returns the squared distance between `p` and `q`.
+*/
+typedef unspecified_type Compute_squared_distance_2;
+
+/*!
+A functor object to compare the x-coordinates of two points. Provides the operator:
+
+`bool operator()(const Point_2& p, const Point_2& q)`,
+
+ which returns `true` iff the x-coordinate of `p` is smaller than the x-coordinate of `q`.
+*/
+typedef unspecified_type Less_x_2;
+
+/*!
+A functor object to compare the y-coordinates of two points. Provides the operator:
+
+`bool operator()(const Point_2& p, const Point_2& q)`,
+
+which returns `true` iff the y-coordinate of `p` is smaller than the y-coordinate of `q`.
+*/
+typedef unspecified_type Less_y_2;
+
+
+/*!
+A functor object to compare two points. Provides the operator:
+
+`bool operator()(const Point_2& p, const Point_2& q)`,
+
+which returns `true` iff `p` is equal to `q`.
+*/
+typedef unspecified_type Equal_2;
+
+/// @}
+
+/// \name Operations
+/// @{
+
+/*!
+returns the intersection detection predicate.
+*/
+Do_intersect_2 do_intersect_2_object();
+
+/*!
+returns the intersection constructor.
+*/
+Intersect_2 intersect_2_object();
+
+/*!
+returns the circle constructor.
+*/
+Construct_circle_2 construct_circle_2_object();
+
+/*!
+returns the closest point constructor.
+*/
+Construct_projected_point_2 construct_projected_point_2_object();
+
+/*!
+returns the compare distance predicate.
+*/
+Compare_distance_2 compare_distance_2_object();
+
+
+/*!
+returns the squared distance functor.
+*/
+Compute_squared_distance_2 compute_squared_distance_2_object();
+
+/*!
+returns the `Less_x_2` predicate.
+*/
+Less_x_2 less_x_2_object();
+
+/*!
+returns the `Less_y_2` predicate.
+*/
+Less_y_2 less_y_2_object();
+
+
+/*!
+returns the equal predicate.
+*/
+Equal_2 equal_2_object();
+
+/// @}
+
+}; /* end AABBGeomTraits_2 */