Merge pull request #889 from hannobraun/intersection

Clean up line/segment intersection, use it in curve/edge intersection

crates/fj-kernel/src/algorithms/intersection/curve_edge.rs

@@ -1,8 +1,9 @@
 use fj_math::{Point, Segment};
-use parry2d_f64::query::{Ray, RayCast};
 
 use crate::objects::{Curve, Edge};
 
+use super::LineSegmentIntersection;
+
 /// The intersection between a [`Curve`] and an [`Edge`], in curve coordinates
 #[derive(Clone, Copy, Debug, Eq, PartialEq, Hash, Ord, PartialOrd)]
 pub enum CurveEdgeIntersection {
@@ -14,11 +15,8 @@ pub enum CurveEdgeIntersection {
 
     /// The edge lies on the curve
     Coincident {
-        /// The first vertex of the edge, in curve coordinates
-        a_on_curve: Point<1>,
-
-        /// The second vertex of the edge, in curve coordinates
-        b_on_curve: Point<1>,
+        /// The end points of the edge, in curve coordinates on the curve
+        points_on_curve: [Point<1>; 2],
     },
 }
 
@@ -36,66 +34,41 @@ impl CurveEdgeIntersection {
             _ => todo!("Curve-edge intersection only supports lines"),
         };
 
-        let edge_curve_as_line = match edge.curve().local_form() {
-            Curve::Line(line) => line,
-            _ => {
-                todo!("Curve-edge intersection only supports line segments")
-            }
+        let edge_as_segment = {
+            let edge_curve_as_line = match edge.curve().local_form() {
+                Curve::Line(line) => line,
+                _ => {
+                    todo!("Curve-edge intersection only supports line segments")
+                }
+            };
+
+            let edge_vertices = match edge.vertices().get() {
+                Some(vertices) => vertices.map(|vertex| {
+                    edge_curve_as_line.point_from_line_coords(vertex.position())
+                }),
+                None => todo!(
+                    "Curve-edge intersection does not support continuous edges"
+                ),
+            };
+
+            Segment::from_points(edge_vertices)
         };
 
-        let edge_vertices = match edge.vertices().get() {
-            Some(vertices) => vertices.map(|vertex| {
-                edge_curve_as_line.point_from_line_coords(vertex.position())
-            }),
-            None => todo!(
-                "Curve-edge intersection does not support continuous edges"
-            ),
-        };
-
-        let edge_as_segment = Segment::from_points(edge_vertices);
-
-        if curve_as_line.is_coincident_with(edge_curve_as_line) {
-            let [a_on_curve, b_on_curve] = edge_vertices
-                .map(|vertex| curve_as_line.point_to_line_coords(vertex));
-
-            return Some(Self::Coincident {
-                a_on_curve,
-                b_on_curve,
-            });
-        }
-
-        let ray = Ray {
-            origin: curve_as_line.origin.to_na(),
-            dir: curve_as_line.direction.to_na(),
-        };
-        let ray_inv = Ray {
-            origin: curve_as_line.origin.to_na(),
-            dir: -curve_as_line.direction.to_na(),
+        let intersection =
+            LineSegmentIntersection::compute(curve_as_line, &edge_as_segment)?;
+
+        let intersection = match intersection {
+            LineSegmentIntersection::Point { point_on_line } => Self::Point {
+                point_on_curve: point_on_line,
+            },
+            LineSegmentIntersection::Coincident { points_on_line } => {
+                Self::Coincident {
+                    points_on_curve: points_on_line,
+                }
+            }
         };
 
-        let result = edge_as_segment.to_parry().cast_local_ray(
-            &ray,
-            f64::INFINITY,
-            false,
-        );
-        let result_inv = edge_as_segment.to_parry().cast_local_ray(
-            &ray_inv,
-            f64::INFINITY,
-            false,
-        );
-
-        if let Some(result) = result {
-            return Some(Self::Point {
-                point_on_curve: Point::from([result]),
-            });
-        }
-        if let Some(result_inv) = result_inv {
-            return Some(Self::Point {
-                point_on_curve: Point::from([-result_inv]),
-            });
-        }
-
-        None
+        Some(intersection)
     }
 }
 
@@ -165,8 +138,7 @@ mod tests {
         assert_eq!(
             intersection,
             Some(CurveEdgeIntersection::Coincident {
-                a_on_curve: Point::from([-1.]),
-                b_on_curve: Point::from([1.]),
+                points_on_curve: [Point::from([-1.]), Point::from([1.]),]
             })
         );
     }

crates/fj-kernel/src/algorithms/intersection/curve_face.rs

@@ -44,12 +44,8 @@ impl CurveFaceIntersectionList {
                     CurveEdgeIntersection::Point { point_on_curve } => {
                         intersections.push(point_on_curve);
                     }
-                    CurveEdgeIntersection::Coincident {
-                        a_on_curve,
-                        b_on_curve,
-                    } => {
-                        intersections.push(a_on_curve);
-                        intersections.push(b_on_curve);
+                    CurveEdgeIntersection::Coincident { points_on_curve } => {
+                        intersections.extend(points_on_curve);
                     }
                 }
             }

crates/fj-kernel/src/algorithms/intersection/line_segment.rs

@@ -1,57 +1,67 @@
-use fj_math::{Aabb, Line, Scalar, Segment, Vector};
-
-/// Determine the intersection between a [`Line`] and a [`Segment`]
-pub fn line_segment(
-    line: &Line<2>,
-    segment: &Segment<2>,
-) -> Option<LineSegmentIntersection> {
-    // Algorithm adapted from Real-Time Collision Detection by Christer Ericson.
-    // See section 5.1.9.1, 2D Segment Intersection.
-
-    let [a, b] = segment.points();
-
-    // Find vector that is orthogonal to `segment`.
-    let n = {
-        let ab = b - a;
-        Vector::from([ab.v, ab.u])
-    };
-
-    let n_dot_origin = n.dot(&(b - line.origin));
-    let n_dot_direction = n.dot(&line.direction);
-
-    if n_dot_origin == Scalar::ZERO && n_dot_direction == Scalar::ZERO {
-        // `line` and `segment` are not just parallel, but coincident!
-        return Some(LineSegmentIntersection::Coincident);
-    }
-
-    if n_dot_direction == Scalar::ZERO {
-        // `line` and `segment` are parallel, but not coincident
-        return None;
-    }
-
-    // Now we ruled out the special cases. Compute where `line` hits the line
-    // defined by `segment`'s points.
-    let t = n_dot_origin / n_dot_direction;
-
-    let point_is_on_segment = Aabb::<2>::from_points(segment.points())
-        .contains(line.point_from_line_coords([t]));
-    if !point_is_on_segment {
-        return None;
-    }
-
-    Some(LineSegmentIntersection::PointOnLine(t))
-}
+use fj_math::{Aabb, Line, Point, Scalar, Segment, Vector};
 
 /// An intersection between a [`Line`] and a [`Segment`]
 #[derive(Debug, Eq, PartialEq)]
 pub enum LineSegmentIntersection {
-    /// Line and segment intersect on a point
-    ///
-    /// Point is given as a coordinate on the line.
-    PointOnLine(Scalar),
+    /// Line and segment intersect at a point
+    Point {
+        /// The intersection point, given as a coordinate on the line
+        point_on_line: Point<1>,
+    },
 
     /// Line and segment are coincident
-    Coincident,
+    Coincident {
+        /// The end points of the segment, given as coordinates on the line
+        points_on_line: [Point<1>; 2],
+    },
+}
+
+impl LineSegmentIntersection {
+    /// Determine the intersection between a [`Line`] and a [`Segment`]
+    pub fn compute(line: &Line<2>, segment: &Segment<2>) -> Option<Self> {
+        // Algorithm adapted from Real-Time Collision Detection by Christer
+        // Ericson. See section 5.1.9.1, 2D Segment Intersection.
+
+        let [a, b] = segment.points();
+
+        // Find vector that is orthogonal to `segment`.
+        let n = {
+            let ab = b - a;
+            Vector::from([ab.v, ab.u])
+        };
+
+        let n_dot_origin = n.dot(&(b - line.origin));
+        let n_dot_direction = n.dot(&line.direction);
+
+        if n_dot_direction == Scalar::ZERO {
+            // `line` and `segment` are parallel
+
+            if n_dot_origin == Scalar::ZERO {
+                // `line` and `segment` are not just parallel, but coincident!
+                return Some(Self::Coincident {
+                    points_on_line: segment
+                        .points()
+                        .map(|point| line.point_to_line_coords(point)),
+                });
+            }
+
+            return None;
+        }
+
+        // Now we ruled out the special cases. Compute where `line` hits the
+        // line defined by `segment`'s points.
+        let t = n_dot_origin / n_dot_direction;
+
+        let point_is_on_segment = Aabb::<2>::from_points(segment.points())
+            .contains(line.point_from_line_coords([t]));
+        if !point_is_on_segment {
+            return None;
+        }
+
+        Some(Self::Point {
+            point_on_line: Point::from([t]),
+        })
+    }
 }
 
 #[cfg(test)]
@@ -61,51 +71,82 @@ mod tests {
     use crate::algorithms::intersection::LineSegmentIntersection;
 
     #[test]
-    fn line_segment() {
+    fn compute_one_hit() {
         let line = Line {
             origin: Point::origin(),
             direction: Vector::unit_u(),
         };
 
-        // regular hit
         assert_eq!(
-            super::line_segment(
+            LineSegmentIntersection::compute(
                 &line,
                 &Segment::from_points([[1., -1.], [1., 1.]]),
             ),
-            Some(LineSegmentIntersection::PointOnLine(Scalar::ONE)),
+            Some(LineSegmentIntersection::Point {
+                point_on_line: Point::from([Scalar::ONE])
+            }),
         );
+    }
+
+    #[test]
+    fn compute_coincident() {
+        let line = Line {
+            origin: Point::origin(),
+            direction: Vector::unit_u(),
+        };
 
-        // hit, where line and segment are parallel
         assert_eq!(
-            super::line_segment(
+            LineSegmentIntersection::compute(
                 &line,
                 &Segment::from_points([[1., 0.], [2., 0.]]),
             ),
-            Some(LineSegmentIntersection::Coincident),
+            Some(LineSegmentIntersection::Coincident {
+                points_on_line: [Point::from([1.]), Point::from([2.])],
+            }),
         );
+    }
+
+    #[test]
+    fn compute_no_hit_above() {
+        let line = Line {
+            origin: Point::origin(),
+            direction: Vector::unit_u(),
+        };
 
-        // segment above line
         assert_eq!(
-            super::line_segment(
+            LineSegmentIntersection::compute(
                 &line,
                 &Segment::from_points([[1., 1.], [1., 2.]]),
             ),
             None,
         );
+    }
+
+    #[test]
+    fn compute_no_hit_below() {
+        let line = Line {
+            origin: Point::origin(),
+            direction: Vector::unit_u(),
+        };
 
-        // segment below line
         assert_eq!(
-            super::line_segment(
+            LineSegmentIntersection::compute(
                 &line,
                 &Segment::from_points([[1., -2.], [1., -1.]]),
             ),
             None,
         );
+    }
+
+    #[test]
+    fn compute_no_hit_parallel() {
+        let line = Line {
+            origin: Point::origin(),
+            direction: Vector::unit_u(),
+        };
 
-        // segment parallel to line
         assert_eq!(
-            super::line_segment(
+            LineSegmentIntersection::compute(
                 &line,
                 &Segment::from_points([[-1., 1.], [1., 1.]]),
             ),

crates/fj-kernel/src/algorithms/intersection/mod.rs

@@ -8,6 +8,6 @@ mod surface_surface;
 pub use self::{
     curve_edge::CurveEdgeIntersection,
     curve_face::{CurveFaceIntersection, CurveFaceIntersectionList},
-    line_segment::{line_segment, LineSegmentIntersection},
+    line_segment::LineSegmentIntersection,
     surface_surface::surface_surface,
 };