IntersectionTest.h

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#pragma once

#include <Eigen/Dense>

#include "BoundingVolume.h"
#include "Line3D.h"

namespace open3d {
namespace geometry {

class IntersectionTest {
public:
    static bool AABBAABB(const Eigen::Vector3d& min0,
                         const Eigen::Vector3d& max0,
                         const Eigen::Vector3d& min1,
                         const Eigen::Vector3d& max1);

    static bool TriangleTriangle3d(const Eigen::Vector3d& p0,
                                   const Eigen::Vector3d& p1,
                                   const Eigen::Vector3d& p2,
                                   const Eigen::Vector3d& q0,
                                   const Eigen::Vector3d& q1,
                                   const Eigen::Vector3d& q2);

    static bool TriangleAABB(const Eigen::Vector3d& box_center,
                             const Eigen::Vector3d& box_half_size,
                             const Eigen::Vector3d& vert0,
                             const Eigen::Vector3d& vert1,
                             const Eigen::Vector3d& vert2);

    static bool PointsCoplanar(const Eigen::Vector3d& p0,
                               const Eigen::Vector3d& p1,
                               const Eigen::Vector3d& p2,
                               const Eigen::Vector3d& p3);

    static double LinesMinimumDistance(const Eigen::Vector3d& p0,
                                       const Eigen::Vector3d& p1,
                                       const Eigen::Vector3d& q0,
                                       const Eigen::Vector3d& q1);

    static double LineSegmentsMinimumDistance(const Eigen::Vector3d& p0,
                                              const Eigen::Vector3d& p1,
                                              const Eigen::Vector3d& q0,
                                              const Eigen::Vector3d& q1);

    static utility::optional<double> LineExactAABB(
            const Line3D& line, const AxisAlignedBoundingBox& box) {
        return line.ExactAABB(box);
    }

    static utility::optional<double> LineSlabAABB(
            const Line3D& line, const AxisAlignedBoundingBox& box) {
        return line.SlabAABB(box);
    }
};

}  // namespace geometry
}  // namespace open3d