extQhull.hpp

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#ifndef UTILITY_EXTENSION_EXT_QHULL_H
#define UTILITY_EXTENSION_EXT_QHULL_H

#include <irafhy/representation/geometric/basic/halfSpace.h>
#include <irafhy/representation/geometric/basic/point.h>
#include <libqhullcpp/QhullHyperplane.h>
#include <libqhullcpp/QhullFacet.h>
#include <libqhullcpp/QhullVertexSet.h>
#include <libqhullcpp/QhullFacetSet.h>
#include <libqhullcpp/QhullFacetList.h>
#include <libqhullcpp/Qhull.h>
#include <vector>

namespace orgQhull
{
    static Eigen::VectorXd getNormal(const QhullHyperplane& qhullHyperplane)
    {
        int             dimension = qhullHyperplane.dimension();
        Eigen::VectorXd retNorm   = Eigen::VectorXd::Zero(dimension);
        const realT*    c         = qhullHyperplane.coordinates();
        for (int dimIdx = 0; dimIdx < dimension; ++dimIdx)
            retNorm(dimIdx) = double(*c++);
        return retNorm;
    }
    static double getOffset(const QhullHyperplane& qhullHyperplane) { return qhullHyperplane.offset(); }
    static std::vector<int> getVerticesIdx(const QhullFacet& qhullFacet)
    {
        std::vector<int> retIndices;
        retIndices.reserve(qhullFacet.vertices().size());
        for (const QhullVertex& qhullVertex : qhullFacet.vertices())
            retIndices.emplace_back(qhullVertex.point().id());
        return retIndices;
    }
    static std::vector<irafhy::Point> getVertices(const Qhull& qhull)
    {
        std::vector<irafhy::Point> retVertices;
        retVertices.reserve(qhull.vertexCount());
        for (const QhullVertex& qhullVertex : qhull.vertexList())
            retVertices.emplace_back(irafhy::Point(qhullVertex.point().toStdVector()));
        return retVertices;
    }
    static std::vector<irafhy::Point> getVertices(const QhullFacet& qhullFacet)
    {
        std::vector<irafhy::Point> retVertices;
        retVertices.reserve(qhullFacet.vertices().size());
        for (const QhullVertex& qhullVertex : qhullFacet.vertices())
            retVertices.emplace_back(irafhy::Point(qhullVertex.point().toStdVector()));
        return retVertices;
    }
    static std::vector<irafhy::HalfSpace> getHalfSpaces(const Qhull& qhull)
    {
        std::vector<irafhy::HalfSpace> retHalfSpaces;
        retHalfSpaces.reserve(qhull.facetCount());
        for (const QhullFacet& qhullFacet : qhull.facetList())
            retHalfSpaces.emplace_back(
                irafhy::HalfSpace(getNormal(qhullFacet.hyperplane()), getOffset(qhullFacet.hyperplane())));
        return retHalfSpaces;
    }
    static std::vector<irafhy::HalfSpace> getHalfSpaces(const QhullFacetSet& qhullFacetSet)
    {
        std::vector<irafhy::HalfSpace> retHalfSpaces;
        retHalfSpaces.reserve(qhullFacetSet.size());
        for (const QhullFacet& qhullFacet : qhullFacetSet)
            retHalfSpaces.emplace_back(
                irafhy::HalfSpace(getNormal(qhullFacet.hyperplane()), getOffset(qhullFacet.hyperplane())));
        return retHalfSpaces;
    }
    static bool contains(const irafhy::Point& point, const Qhull& qhull)
    {
        for (const QhullFacet& qhullFacet : qhull.facetList())
        {
            Eigen::VectorXd normal = getNormal(qhullFacet.hyperplane());
            double          offset = getOffset(qhullFacet.hyperplane());
            if (normal.dot(point.coordinate()) + offset > 0)
                return false;
        }
        return true;
    }
} // namespace orgQhull
#endif //UTILITY_EXTENSION_EXT_QHULL_H