Merge pull request #30 from open-space-collective/users/lucas/improve…

…-geometry Add geometry queries
open-space-collective · Jul 18, 2019 · f1ff325 · f1ff325
2 parents 5810552 + 2f2ea61
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diff --git a/README.md b/README.md
@@ -53,12 +53,15 @@ The **Mathematics** library exhibits the following structure:
 │   │   │   ├── Line
 │   │   │   ├── Ray
 │   │   │   ├── Segment
-│   │   │   ├── Rectangle
+│   │   │   ├── Line String
+│   │   │   ├── Polygon
 │   │   │   ├── Plane
+│   │   │   ├── Cuboid
 │   │   │   ├── Sphere
 │   │   │   ├── Ellipsoid
 │   │   │   ├── Cone
-│   │   │   └── Pyramid
+│   │   │   ├── Pyramid
+│   │   │   └── Composite
 │   │   ├── Intersection
 │   │   └── Transformations
 │   │       ├── Identity
@@ -109,6 +112,51 @@ Various tutorials are available here:
 - [C++](./tutorials/cpp)
 - [Python](./tutorials/python)
 
+## Features
+
+### Geometry Queries
+
+- `○`: query only
+- `✔`: query / intersection set
+- ` `: to be implemented
+- `-`: undefined
+
+#### 3D
+
+| Intersect        | Point | Point Set | Line | Ray | Segment | Line String | Polygon | Plane | Cuboid | Sphere | Ellipsoid | Cone | Pyramid | Composite |
+|------------------|-------|-----------|------|-----|---------|-------------|---------|-------|--------|--------|-----------|------|---------|-----------|
+| **Point**        |       |           | ○    | ○   |         |             |         | ✔     | ○      | ○      | ○         |      |         |           |
+| **Point Set**    |       |           |      |     |         |             |         | ✔     | ○      | ○      | ○         |      |         |           |
+| **Line**         | ○     |           |      |     |         |             |         | ✔     | ○      | ○      | ✔         |      |         |           |
+| **Ray**          | ○     |           |      |     |         |             |         | ✔     |        | ○      | ✔         |      |         |           |
+| **Segment**      |       |           |      |     |         |             |         | ✔     |        | ○      | ✔         |      |         |           |
+| **Line String**  |       |           |      |     |         |             |         |       |        |        |           |      |         |           |
+| **Polygon**      |       |           |      |     |         |             |         |       |        |        |           |      |         |           |
+| **Plane**        | ✔     | ✔         | ✔    | ✔   | ✔       |             |         |       |        | ○      | ○         |      |         |           |
+| **Cuboid**       | ○     | ○         | ○    |     |         |             |         |       |        |        |           |      |         |           |
+| **Sphere**       | ○     | ○         | ○    | ○   | ○       |             |         | ○     |        |        |           |      | ○       |           |
+| **Ellipsoid**    | ○     | ○         | ✔    | ✔   | ✔       |             |         | ○     |        |        |           | ✔    | ✔       |           |
+| **Cone**         |       |           |      |     |         |             |         |       |        |        | ✔         |      |         |           |
+| **Pyramid**      |       |           |      |     |         |             |         |       |        | ○      | ✔         |      |         |           |
+| **Composite**    |       |           |      |     |         |             |         |       |        |        |           |      |         |           |
+
+| Contain          | Point | Point Set | Line | Ray | Segment | Line String | Polygon | Plane | Cuboid | Sphere | Ellipsoid | Cone | Pyramid | Composite |
+|------------------|-------|-----------|------|-----|---------|-------------|---------|-------|--------|--------|-----------|------|---------|-----------|
+| **Point**        |       |           | -    | -   | -       | -           | -       | -     | -      | -      | -         | -    | -       |           |
+| **Point Set**    |       |           | -    | -   | -       | -           | -       | -     | -      | -      | -         | -    | -       |           |
+| **Line**         | ✔     |           |      |     |         |             | -       | -     | -      | -      | -         | -    | -       |           |
+| **Ray**          | ✔     | ✔         | -    |     |         |             | -       | -     | -      | -      | -         | -    | -       |           |
+| **Segment**      | ✔     |           | -    | -   |         |             | -       | -     | -      | -      | -         | -    | -       |           |
+| **Line String**  |       |           | -    | -   |         |             | -       | -     | -      | -      | -         | -    | -       |           |
+| **Polygon**      |       |           | -    | -   |         |             |         | -     | -      | -      | -         | -    | -       |           |
+| **Plane**        | ✔     | ✔         | ✔    | ✔   | ✔       |             |         |       | -      | -      | -         | -    | -       |           |
+| **Cuboid**       | ✔     | ✔         | -    | -   |         |             |         | -     |        |        |           |      |         |           |
+| **Sphere**       | ✔     | ✔         | -    | -   | -       | -           | -       | -     |        |        |           |      |         |           |
+| **Ellipsoid**    | ✔     | ✔         | -    | -   | -       | -           | -       | -     |        |        |           |      |         |           |
+| **Cone**         |       |           |      |     |         | -           | -       | -     |        |        |           |      |         |           |
+| **Pyramid**      | ✔     |           |      |     |         |             |         | -     |        |        |           |      |         |           |
+| **Composite**    |       |           |      |     |         |             |         |       |        |        |           |      |         |           |
+
 ## Setup
 
 ### Development
@@ -182,4 +230,4 @@ Please read our [contributing guide](CONTRIBUTING.md) to learn about our develop
 
 ## License
 
-Apache License 2.0
+Apache License 2.0
diff --git a/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Line.cpp b/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Line.cpp
@@ -20,8 +20,10 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Line (
     using library::math::geom::d3::Object ;
     using library::math::geom::d3::objects::Point ;
     using library::math::geom::d3::objects::Line ;
+    using library::math::geom::d3::objects::Plane ;
     using library::math::geom::d3::objects::Sphere ;
     using library::math::geom::d3::objects::Ellipsoid ;
+    using library::math::geom::d3::Intersection ;
 
     scope in_Line = class_<Line, bases<Object>>("Line", init<const Point&, const Vector3d&>())
 
@@ -33,18 +35,20 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Line (
 
         .def("isDefined", &Line::isDefined)
         .def("intersectsPoint", +[] (const Line& aLine, const Point& aPoint) -> bool { return aLine.intersects(aPoint) ; })
+        .def("intersectsPlane", +[] (const Line& aLine, const Plane& aPlane) -> bool { return aLine.intersects(aPlane) ; })
         .def("intersectsSphere", +[] (const Line& aLine, const Sphere& aSphere) -> bool { return aLine.intersects(aSphere) ; })
         .def("intersectsEllipsoid", +[] (const Line& aLine, const Ellipsoid& anEllipsoid) -> bool { return aLine.intersects(anEllipsoid) ; })
         .def("containsPoint", +[] (const Line& aLine, const Point& aPoint) -> bool { return aLine.contains(aPoint) ; })
 
         .def("getOrigin", &Line::getOrigin)
         .def("getDirection", &Line::getDirection)
+        .def("intersectionWithPlane", +[] (const Line& aLine, const Plane& aPlane) -> Intersection { return aLine.intersectionWith(aPlane) ; })
         .def("applyTransformation", &Line::applyTransformation)
-        
+
         .def("Undefined", &Line::Undefined).staticmethod("Undefined")
 
     ;
 
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Plane.cpp b/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Plane.cpp
@@ -19,7 +19,12 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Plane (
     using library::math::obj::Vector3d ;
     using library::math::geom::d3::Object ;
     using library::math::geom::d3::objects::Point ;
+    using library::math::geom::d3::objects::PointSet ;
     using library::math::geom::d3::objects::Plane ;
+    using library::math::geom::d3::objects::Line ;
+    using library::math::geom::d3::objects::Ray ;
+    using library::math::geom::d3::objects::Segment ;
+    using library::math::geom::d3::Intersection ;
 
     scope in_Plane = class_<Plane, bases<Object>>("Plane", init<const Point&, const Vector3d&>())
 
@@ -28,18 +33,32 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Plane (
 
         .def(self_ns::str(self_ns::self))
         .def(self_ns::repr(self_ns::self))
-        
+
         .def("isDefined", &Plane::isDefined)
+        .def("intersectsPoint", +[] (const Plane& aPlane, const Point& aPoint) -> bool { return aPlane.intersects(aPoint) ; })
+        .def("intersectsPointSet", +[] (const Plane& aPlane, const PointSet& aPointSet) -> bool { return aPlane.intersects(aPointSet) ; })
+        .def("intersectsLine", +[] (const Plane& aPlane, const Line& aLine) -> bool { return aPlane.intersects(aLine) ; })
+        .def("intersectsRay", +[] (const Plane& aPlane, const Ray& aRay) -> bool { return aPlane.intersects(aRay) ; })
+        .def("intersectsSegment", +[] (const Plane& aPlane, const Segment& aSegment) -> bool { return aPlane.intersects(aSegment) ; })
         .def("containsPoint", +[] (const Plane& aPlane, const Point& aPoint) -> bool { return aPlane.contains(aPoint) ; })
+        .def("containsPointSet", +[] (const Plane& aPlane, const PointSet& aPointSet) -> bool { return aPlane.contains(aPointSet) ; })
+        .def("containsLine", +[] (const Plane& aPlane, const Line& aLine) -> bool { return aPlane.contains(aLine) ; })
+        .def("containsRay", +[] (const Plane& aPlane, const Ray& aRay) -> bool { return aPlane.contains(aRay) ; })
+        .def("containsSegment", +[] (const Plane& aPlane, const Segment& aSegment) -> bool { return aPlane.contains(aSegment) ; })
 
         .def("getPoint", &Plane::getPoint)
         .def("getNormalVector", &Plane::getNormalVector)
+        .def("intersectionWithPoint", +[] (const Plane& aPlane, const Point& aPoint) -> Intersection { return aPlane.intersectionWith(aPoint) ; })
+        .def("intersectionWithPointSet", +[] (const Plane& aPlane, const PointSet& aPointSet) -> Intersection { return aPlane.intersectionWith(aPointSet) ; })
+        .def("intersectionWithLine", +[] (const Plane& aPlane, const Line& aLine) -> Intersection { return aPlane.intersectionWith(aLine) ; })
+        .def("intersectionWithRay", +[] (const Plane& aPlane, const Ray& aRay) -> Intersection { return aPlane.intersectionWith(aRay) ; })
+        .def("intersectionWithSegment", +[] (const Plane& aPlane, const Segment& aSegment) -> Intersection { return aPlane.intersectionWith(aSegment) ; })
         .def("applyTransformation", &Plane::applyTransformation)
-        
+
         .def("Undefined", &Plane::Undefined).staticmethod("Undefined")
 
     ;
 
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Ray.cpp b/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Ray.cpp
@@ -19,6 +19,7 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Ray ( )
     using library::math::obj::Vector3d ;
     using library::math::geom::d3::Object ;
     using library::math::geom::d3::objects::Point ;
+    using library::math::geom::d3::objects::PointSet ;
     using library::math::geom::d3::objects::Ray ;
     using library::math::geom::d3::objects::Plane ;
     using library::math::geom::d3::objects::Sphere ;
@@ -35,20 +36,22 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Ray ( )
 
         .def("isDefined", &Ray::isDefined)
         .def("intersectsPoint", +[] (const Ray& aRay, const Point& aPoint) -> bool { return aRay.intersects(aPoint) ; })
+        .def("intersectsPlane", +[] (const Ray& aRay, const Plane& aPlane) -> bool { return aRay.intersects(aPlane) ; })
         .def("intersectsSphere", +[] (const Ray& aRay, const Sphere& aSphere) -> bool { return aRay.intersects(aSphere) ; })
         .def("intersectsEllipsoid", +[] (const Ray& aRay, const Ellipsoid& anEllipsoid) -> bool { return aRay.intersects(anEllipsoid) ; })
         .def("containsPoint", +[] (const Ray& aRay, const Point& aPoint) -> bool { return aRay.contains(aPoint) ; })
+        .def("containsPointSet", +[] (const Ray& aRay, const PointSet& aPointSet) -> bool { return aRay.contains(aPointSet) ; })
 
         .def("getOrigin", &Ray::getOrigin)
         .def("getDirection", &Ray::getDirection)
         .def("intersectionWithPlane", +[] (const Ray& aRay, const Plane& aPlane) -> Intersection { return aRay.intersectionWith(aPlane) ; })
         .def("intersectionWithEllipsoid", +[] (const Ray& aRay, const Ellipsoid& anEllipsoid) -> Intersection { return aRay.intersectionWith(anEllipsoid) ; })
         .def("applyTransformation", &Ray::applyTransformation)
-        
+
         .def("Undefined", &Ray::Undefined).staticmethod("Undefined")
 
     ;
 
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Segment.cpp b/bindings/python/src/LibraryMathematicsPy/Geometry/3D/Objects/Segment.cpp
@@ -19,8 +19,10 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Segment
     using library::math::geom::d3::Object ;
     using library::math::geom::d3::objects::Point ;
     using library::math::geom::d3::objects::Segment ;
+    using library::math::geom::d3::objects::Plane ;
     using library::math::geom::d3::objects::Sphere ;
     using library::math::geom::d3::objects::Ellipsoid ;
+    using library::math::geom::d3::Intersection ;
 
     scope in_Segment = class_<Segment, bases<Object>>("Segment", init<const Point&, const Point&>())
 
@@ -32,6 +34,7 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Segment
 
         .def("isDefined", &Segment::isDefined)
         .def("isDegenerate", &Segment::isDegenerate)
+        .def("intersectsPlane", +[] (const Segment& aSegment, const Plane& aPlane) -> bool { return aSegment.intersects(aPlane) ; })
         .def("intersectsSphere", +[] (const Segment& aSegment, const Sphere& aSphere) -> bool { return aSegment.intersects(aSphere) ; })
         .def("intersectsEllipsoid", +[] (const Segment& aSegment, const Ellipsoid& anEllipsoid) -> bool { return aSegment.intersects(anEllipsoid) ; })
         .def("containsPoint", +[] (const Segment& aSegment, const Point& aPoint) -> bool { return aSegment.contains(aPoint) ; })
@@ -41,12 +44,13 @@ inline void                     LibraryMathematicsPy_Geometry_3D_Objects_Segment
         .def("getCenter", &Segment::getCenter)
         .def("getDirection", &Segment::getDirection)
         .def("getLength", &Segment::getLength)
+        .def("intersectionWithPlane", +[] (const Segment& aSegment, const Plane& aPlane) -> Intersection { return aSegment.intersectionWith(aPlane) ; })
         .def("applyTransformation", &Segment::applyTransformation)
-        
+
         .def("Undefined", &Segment::Undefined).staticmethod("Undefined")
 
     ;
 
 }
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
diff --git a/include/Library/Mathematics/Geometry/3D/Objects/Line.hpp b/include/Library/Mathematics/Geometry/3D/Objects/Line.hpp
@@ -38,6 +38,8 @@ using library::math::geom::d3::objects::Point ;
 
 ////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
 
+class PointSet ;
+class Plane ;
 class Sphere ;
 class Ellipsoid ;
 
@@ -110,11 +112,24 @@ class Line : public Object
         ///                     line.intersects(point) ;
         /// @endcode
         ///
-        /// @param              [in] anPoint An point
+        /// @param              [in] anPoint A point
         /// @return             True if line intersects point
-        
+
         bool                    intersects                                  (   const   Point&                      aPoint                                      ) const ;
 
+        /// @brief              Check if line intersects plane
+        ///
+        /// @code
+        ///                     Line line = ... ;
+        ///                     Plane plane = ... ;
+        ///                     line.intersects(plane) ;
+        /// @endcode
+        ///
+        /// @param              [in] aPlane A plane
+        /// @return             True if line intersects plane
+
+        bool                    intersects                                  (   const   Plane&                      aPlane                                      ) const ;
+
         /// @brief              Check if line intersects sphere
         ///
         /// @code
@@ -125,7 +140,7 @@ class Line : public Object
         ///
         /// @param              [in] aSphere A sphere
         /// @return             True if line intersects sphere
-        
+
         bool                    intersects                                  (   const   Sphere&                     aSphere                                     ) const ;
 
         /// @brief              Check if line intersects ellipsoid
@@ -138,7 +153,7 @@ class Line : public Object
         ///
         /// @param              [in] anEllipsoid An ellipsoid
         /// @return             True if line intersects ellipsoid
-        
+
         bool                    intersects                                  (   const   Ellipsoid&                  anEllipsoid                                 ) const ;
 
         /// @brief              Check if line contains point
@@ -174,6 +189,13 @@ class Line : public Object
 
         Vector3d                getDirection                                ( ) const ;
 
+        /// @brief              Compute intersection of line with plane
+        ///
+        /// @param              [in] aPlane A plane
+        /// @return             Intersection of line with plane
+
+        Intersection            intersectionWith                            (   const   Plane&                      aPlane                                      ) const ;
+
         /// @brief              Print line
         ///
         /// @param              [in] anOutputStream An output stream
@@ -217,4 +239,4 @@ class Line : public Object
 
 #endif
 
-////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////
+////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////////