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Allow travels processed by the avoid crossing perimeters move further away from the outer perimeter.

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Lukáš Hejl 2021-02-24 07:52:11 +01:00
parent c660091bfa
commit 4d47e9a184
3 changed files with 287 additions and 73 deletions
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326
src/libslic3r/GCode/AvoidCrossingPerimeters.cpp
View file

@ -11,6 +11,7 @@
#include <numeric>
#include <unordered_set>
#include <boost/range/adaptor/reversed.hpp>
namespace Slic3r {
@ -33,6 +34,16 @@ struct Intersection
float distance;
};
struct ClosestLine
{
// Index of the polygon containing this line.
size_t border_idx;
// Index of this line on the polygon containing it.
size_t line_idx;
// Closest point on the line.
Point point;
};
// Finding all intersections of a set of contours with a line segment.
struct AllIntersectionsVisitor
{
@ -53,7 +64,7 @@ struct AllIntersectionsVisitor
bool operator()(coord_t iy, coord_t ix)
{
// Called with a row and colum of the grid cell, which is intersected by a line.
// Called with a row and column of the grid cell, which is intersected by a line.
auto cell_data_range = grid.cell_data_range(iy, ix);
for (auto it_contour_and_segment = cell_data_range.first; it_contour_and_segment != cell_data_range.second; ++it_contour_and_segment) {
Point intersection_point;
@ -82,7 +93,7 @@ struct FirstIntersectionVisitor
{
assert(pt_current != nullptr);
assert(pt_next != nullptr);
// Called with a row and colum of the grid cell, which is intersected by a line.
// Called with a row and column of the grid cell, which is intersected by a line.
auto cell_data_range = grid.cell_data_range(iy, ix);
this->intersect = false;
for (auto it_contour_and_segment = cell_data_range.first; it_contour_and_segment != cell_data_range.second; ++it_contour_and_segment) {
@ -103,6 +114,180 @@ struct FirstIntersectionVisitor
bool intersect = false;
};
// Visitor to create a list of closet lines to a defined point.
struct MinDistanceVisitor
{
explicit MinDistanceVisitor(const EdgeGrid::Grid &grid, const Point &center, double max_distance_squared)
: grid(grid), center(center), max_distance_squared(max_distance_squared)
{}
void init()
{
this->closest_lines.clear();
this->closest_lines_set.clear();
}
bool operator()(coord_t iy, coord_t ix)
{
// Called with a row and column of the grid cell, which is inside a bounding box.
auto cell_data_range = grid.cell_data_range(iy, ix);
for (auto it_contour_and_segment = cell_data_range.first; it_contour_and_segment != cell_data_range.second; ++it_contour_and_segment) {
// End points of the line segment and their vector.
auto segment = grid.segment(*it_contour_and_segment);
Point closest_point;
if (closest_lines_set.find(*it_contour_and_segment) == closest_lines_set.end() &&
line_alg::distance_to_squared(Line(segment.first, segment.second), center, &closest_point) <= this->max_distance_squared) {
closest_lines.push_back({it_contour_and_segment->first, it_contour_and_segment->second, closest_point});
closest_lines_set.insert(*it_contour_and_segment);
}
}
// Continue traversing the grid along the edge.
return true;
}
const EdgeGrid::Grid & grid;
const Slic3r::Point center;
std::vector<ClosestLine> closest_lines;
std::unordered_set<std::pair<size_t, size_t>, boost::hash<std::pair<size_t, size_t>>> closest_lines_set;
double max_distance_squared = std::numeric_limits<double>::max();
};
// Returns sorted list of closest lines to a passed point within a passed radius
static std::vector<ClosestLine> get_closest_lines_in_radius(const EdgeGrid::Grid &grid, const Point &center, float search_radius)
{
Point radius_vector(search_radius, search_radius);
MinDistanceVisitor visitor(grid, center, search_radius * search_radius);
grid.visit_cells_intersecting_box(BoundingBox(center - radius_vector, center + radius_vector), visitor);
std::sort(visitor.closest_lines.begin(), visitor.closest_lines.end(), [&center](const auto &l, const auto &r) {
return (center - l.point).template cast<double>().squaredNorm() < (center - r.point).template cast<double>().squaredNorm();
});
return visitor.closest_lines;
}
// When the offset is too big, then original travel doesn't have to cross created boundaries.
// For these cases, this function adds another intersection with lines around the start and the end point of the original travel.
static std::vector<Intersection> extend_for_closest_lines(const std::vector<Intersection> &intersections,
const AvoidCrossingPerimeters::Boundary &boundary,
const Point &start,
const Point &end,
const float search_radius)
{
const std::vector<ClosestLine> start_lines = get_closest_lines_in_radius(boundary.grid, start, search_radius);
const std::vector<ClosestLine> end_lines = get_closest_lines_in_radius(boundary.grid, end, search_radius);
// Compute distance to the closest point in the ClosestLine from begin of contour.
auto compute_distance = [&boundary](const ClosestLine &closest_line) -> float {
float dist_from_line_begin = (closest_line.point - boundary.boundaries[closest_line.border_idx][closest_line.line_idx]).cast<float>().norm();
return boundary.boundaries_params[closest_line.border_idx][closest_line.line_idx] + dist_from_line_begin;
};
// It tries to find closest lines for both start point and end point of the travel which has the same border_idx
auto endpoints_close_to_same_boundary = [&start_lines, &end_lines]() -> std::pair<size_t, size_t> {
std::unordered_set<size_t> boundaries_from_start;
for (const ClosestLine &cl_start : start_lines)
boundaries_from_start.insert(cl_start.border_idx);
for (const ClosestLine &cl_end : end_lines)
if (boundaries_from_start.find(cl_end.border_idx) != boundaries_from_start.end())
for (const ClosestLine &cl_start : start_lines)
if (cl_start.border_idx == cl_end.border_idx) {
size_t cl_start_idx = &cl_start - &start_lines.front();
size_t cl_end_idx = &cl_end - &end_lines.front();
return std::make_pair(cl_start_idx, cl_end_idx);
}
return std::make_pair(std::numeric_limits<size_t>::max(), std::numeric_limits<size_t>::max());
};
// If the existing two lines within the search radius start and end point belong to the same boundary,
// discard all intersection points because the whole detour could be on one boundary.
if (!start_lines.empty() && !end_lines.empty()) {
std::pair<size_t, size_t> cl_indices = endpoints_close_to_same_boundary();
if (cl_indices.first != std::numeric_limits<size_t>::max()) {
assert(cl_indices.second != std::numeric_limits<size_t>::max());
const ClosestLine &cl_start = start_lines[cl_indices.first];
const ClosestLine &cl_end = end_lines[cl_indices.second];
std::vector<Intersection> new_intersections;
new_intersections.push_back({cl_start.border_idx, cl_start.line_idx, cl_start.point, compute_distance(cl_start)});
new_intersections.push_back({cl_end.border_idx, cl_end.line_idx, cl_end.point, compute_distance(cl_end)});
return new_intersections;
}
}
// Returns ClosestLine which is closer to the point "close_to" then point inside passed Intersection.
auto get_closer = [&search_radius](const std::vector<ClosestLine> &closest_lines, const Intersection &intersection,
const Point &close_to) -> size_t {
for (const ClosestLine &cl : closest_lines) {
double old_dist = (close_to - intersection.point).cast<float>().squaredNorm();
if (cl.border_idx == intersection.border_idx && old_dist <= (search_radius * search_radius) &&
(close_to - cl.point).cast<float>().squaredNorm() < old_dist)
return &cl - &closest_lines.front();
}
return std::numeric_limits<size_t>::max();
};
// Try to find ClosestLine with same boundary_idx as any existing Intersection
auto find_closest_line_with_same_boundary_idx = [](const std::vector<ClosestLine> & closest_lines,
const std::vector<Intersection> &intersections, const bool reverse) -> size_t {
std::unordered_set<size_t> boundaries_indices;
for (const ClosestLine &closest_line : closest_lines)
boundaries_indices.insert(closest_line.border_idx);
// This function must be called only in the case that exists closest_line with boundary_idx equals to intersection.border_idx
auto find_closest_line_index = [&closest_lines](const Intersection &intersection) -> size_t {
for (const ClosestLine &closest_line : closest_lines)
if (closest_line.border_idx == intersection.border_idx) return &closest_line - &closest_lines.front();
// This is an invalid state.
assert(false);
return std::numeric_limits<size_t>::max();
};
if (reverse) {
for (const Intersection &intersection : boost::adaptors::reverse(intersections))
if (boundaries_indices.find(intersection.border_idx) != boundaries_indices.end())
return find_closest_line_index(intersection);
} else {
for (const Intersection &intersection : intersections)
if (boundaries_indices.find(intersection.border_idx) != boundaries_indices.end())
return find_closest_line_index(intersection);
}
return std::numeric_limits<size_t>::max();
};
std::vector<Intersection> new_intersections = intersections;
if (!intersections.empty() && !start_lines.empty()) {
size_t cl_start_idx = get_closer(start_lines, new_intersections.front(), start);
if (cl_start_idx != std::numeric_limits<size_t>::max()) {
// If there is any ClosestLine around the start point closer to the Intersection, then replace this Intersection with ClosestLine.
const ClosestLine &cl_start = start_lines[cl_start_idx];
new_intersections.front() = {cl_start.border_idx, cl_start.line_idx, cl_start.point, compute_distance(cl_start)};
} else {
// Check if there is any ClosestLine with the same boundary_idx as any Intersection. If this ClosestLine exists, then add it to the
// vector of intersections. This allows in some cases when it is more than one around ClosestLine start point chose that one which
// minimizes the number of contours (also length of the detour) in result detour. If there doesn't exist any ClosestLine like this, then
// use the first one, which is the closest one to the start point.
size_t start_closest_lines_idx = find_closest_line_with_same_boundary_idx(start_lines, intersections, true);
const ClosestLine &cl_start = (start_closest_lines_idx != std::numeric_limits<size_t>::max()) ? start_lines[start_closest_lines_idx] : start_lines.front();
new_intersections.insert(new_intersections.begin(),{cl_start.border_idx, cl_start.line_idx, cl_start.point, compute_distance(cl_start)});
}
} else if (!intersections.empty() && !end_lines.empty()) {
size_t cl_end_idx = get_closer(end_lines, new_intersections.back(), end);
if (cl_end_idx != std::numeric_limits<size_t>::max()) {
// If there is any ClosestLine around the end point closer to the Intersection, then replace this Intersection with ClosestLine.
const ClosestLine &cl_end = end_lines[cl_end_idx];
new_intersections.back() = {cl_end.border_idx, cl_end.line_idx, cl_end.point, compute_distance(cl_end)};
} else {
// Check if there is any ClosestLine with the same boundary_idx as any Intersection. If this ClosestLine exists, then add it to the
// vector of intersections. This allows in some cases when it is more than one around ClosestLine end point chose that one which
// minimizes the number of contours (also length of the detour) in result detour. If there doesn't exist any ClosestLine like this, then
// use the first one, which is the closest one to the end point.
size_t end_closest_lines_idx = find_closest_line_with_same_boundary_idx(end_lines, intersections, false);
const ClosestLine &cl_end = (end_closest_lines_idx != std::numeric_limits<size_t>::max()) ? end_lines[end_closest_lines_idx] : end_lines.front();
new_intersections.push_back({cl_end.border_idx, cl_end.line_idx, cl_end.point, compute_distance(cl_end)});
}
}
return new_intersections;
}
// point_idx is the index from which is different vertex is searched.
template<bool forward>
static Point find_first_different_vertex(const Polygon &polygon, const size_t point_idx, const Point &point)
@ -268,10 +453,63 @@ static std::vector<TravelPoint> simplify_travel(const AvoidCrossingPerimeters::B
return simplified_path;
}
// called by get_perimeter_spacing() / get_perimeter_spacing_external()
static inline float get_default_perimeter_spacing(const PrintObject &print_object)
{
std::vector<unsigned int> printing_extruders = print_object.object_extruders();
assert(!printing_extruders.empty());
float avg_extruder = 0;
for(unsigned int extruder_id : printing_extruders)
avg_extruder += float(scale_(print_object.print()->config().nozzle_diameter.get_at(extruder_id)));
avg_extruder /= printing_extruders.size();
return avg_extruder;
}
// called by get_boundary() / avoid_perimeters_inner()
static float get_perimeter_spacing(const Layer &layer)
{
size_t regions_count = 0;
float perimeter_spacing = 0.f;
for (const LayerRegion *layer_region : layer.regions())
if (layer_region != nullptr && !layer_region->slices.empty()) {
perimeter_spacing += layer_region->flow(frPerimeter).scaled_spacing();
++regions_count;
}
assert(perimeter_spacing >= 0.f);
if (regions_count != 0)
perimeter_spacing /= float(regions_count);
else
perimeter_spacing = get_default_perimeter_spacing(*layer.object());
return perimeter_spacing;
}
// called by get_boundary_external()
static float get_perimeter_spacing_external(const Layer &layer)
{
size_t regions_count = 0;
float perimeter_spacing = 0.f;
for (const PrintObject *object : layer.object()->print()->objects())
if (const Layer *l = object->get_layer_at_printz(layer.print_z, EPSILON); l)
for (const LayerRegion *layer_region : l->regions())
if (layer_region != nullptr && !layer_region->slices.empty()) {
perimeter_spacing += layer_region->flow(frPerimeter).scaled_spacing();
++ regions_count;
}
assert(perimeter_spacing >= 0.f);
if (regions_count != 0)
perimeter_spacing /= float(regions_count);
else
perimeter_spacing = get_default_perimeter_spacing(*layer.object());
return perimeter_spacing;
}
// Called by avoid_perimeters() and by simplify_travel_heuristics().
static size_t avoid_perimeters_inner(const AvoidCrossingPerimeters::Boundary &boundary,
const Point &start,
const Point &end,
const Layer &layer,
std::vector<TravelPoint> &result_out)
{
const Polygons &boundaries = boundary.boundaries;
@ -288,23 +526,31 @@ static size_t avoid_perimeters_inner(const AvoidCrossingPerimeters::Boundary &bo
intersection.distance = boundary.boundaries_params[intersection.border_idx][intersection.line_idx] + dist_from_line_begin;
}
std::sort(intersections.begin(), intersections.end(), [dir](const auto &l, const auto &r) { return (r.point - l.point).template cast<double>().dot(dir) > 0.; });
// Search radius should always be at least equals to the value of offset used for computing boundaries.
const float search_radius = 2.f * get_perimeter_spacing(layer);
// When the offset is too big, then original travel doesn't have to cross created boundaries.
// These cases are fixed by calling extend_for_closest_lines.
intersections = extend_for_closest_lines(intersections, boundary, start, end, search_radius);
}
std::vector<TravelPoint> result;
result.push_back({start, -1});
#if 0
auto crossing_boundary_from_inside = [&boundary](const Point &start, const Intersection &intersection) {
const Polygon &poly = boundary.boundaries[intersection.border_idx];
Vec2d poly_line = Line(poly[intersection.line_idx], poly[(intersection.line_idx + 1) % poly.size()]).normal().cast<double>();
Vec2d intersection_vec = (intersection.point - start).cast<double>();
return poly_line.normalized().dot(intersection_vec.normalized()) >= 0;
};
#endif
for (auto it_first = intersections.begin(); it_first != intersections.end(); ++it_first) {
// The entry point to the boundary polygon
const Intersection &intersection_first = *it_first;
if(!crossing_boundary_from_inside(start, intersection_first))
continue;
// if(!crossing_boundary_from_inside(start, intersection_first))
// continue;
// Skip the it_first from the search for the farthest exit point from the boundary polygon
auto it_last_item = std::make_reverse_iterator(it_first) - 1;
// Search for the farthest intersection different from it_first but with the same border_idx
@ -353,8 +599,7 @@ static size_t avoid_perimeters_inner(const AvoidCrossingPerimeters::Boundary &bo
#ifdef AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT
{
static int iRun = 0;
export_travel_to_svg(boundaries, Line(start, end), result, intersections,
debug_out_path("AvoidCrossingPerimetersInner-initial-%d.svg", iRun++));
export_travel_to_svg(boundaries, Line(start, end), result, intersections, debug_out_path("AvoidCrossingPerimetersInner-initial-%d-%d.svg", layer.id(), iRun++));
}
#endif /* AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT */
@ -365,7 +610,7 @@ static size_t avoid_perimeters_inner(const AvoidCrossingPerimeters::Boundary &bo
{
static int iRun = 0;
export_travel_to_svg(boundaries, Line(start, end), result, intersections,
debug_out_path("AvoidCrossingPerimetersInner-final-%d.svg", iRun++));
debug_out_path("AvoidCrossingPerimetersInner-final-%d-%d.svg", layer.id(), iRun++));
}
#endif /* AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT */
@ -377,17 +622,18 @@ static size_t avoid_perimeters_inner(const AvoidCrossingPerimeters::Boundary &bo
static size_t avoid_perimeters(const AvoidCrossingPerimeters::Boundary &boundary,
const Point &start,
const Point &end,
const Layer &layer,
Polyline &result_out)
{
// Travel line is completely or partially inside the bounding box.
std::vector<TravelPoint> path;
size_t num_intersections = avoid_perimeters_inner(boundary, start, end, path);
size_t num_intersections = avoid_perimeters_inner(boundary, start, end, layer, path);
result_out = to_polyline(path);
#ifdef AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT
{
static int iRun = 0;
export_travel_to_svg(boundary.boundaries, Line(start, end), path, {}, debug_out_path("AvoidCrossingPerimeters-final-%d.svg", iRun ++));
export_travel_to_svg(boundary.boundaries, Line(start, end), path, {}, debug_out_path("AvoidCrossingPerimeters-final-%d-%d.svg", layer.id(), iRun ++));
}
#endif /* AVOID_CROSSING_PERIMETERS_DEBUG_OUTPUT */
@ -482,58 +728,6 @@ static bool need_wipe(const GCode &gcodegen,
return wipe_needed;
}
// called by get_perimeter_spacing() / get_perimeter_spacing_external()
static inline float get_default_perimeter_spacing(const PrintObject &print_object)
{
std::vector<unsigned int> printing_extruders = print_object.object_extruders();
assert(!printing_extruders.empty());
float avg_extruder = 0;
for(unsigned int extruder_id : printing_extruders)
avg_extruder += float(scale_(print_object.print()->config().nozzle_diameter.get_at(extruder_id)));
avg_extruder /= printing_extruders.size();
return avg_extruder;
}
// called by get_boundary()
static float get_perimeter_spacing(const Layer &layer)
{
size_t regions_count = 0;
float perimeter_spacing = 0.f;
for (const LayerRegion *layer_region : layer.regions())
if (layer_region != nullptr && !layer_region->slices.empty()) {
perimeter_spacing += layer_region->flow(frPerimeter).scaled_spacing();
++regions_count;
}
assert(perimeter_spacing >= 0.f);
if (regions_count != 0)
perimeter_spacing /= float(regions_count);
else
perimeter_spacing = get_default_perimeter_spacing(*layer.object());
return perimeter_spacing;
}
// called by get_boundary_external()
static float get_perimeter_spacing_external(const Layer &layer)
{
size_t regions_count = 0;
float perimeter_spacing = 0.f;
for (const PrintObject *object : layer.object()->print()->objects())
if (const Layer *l = object->get_layer_at_printz(layer.print_z, EPSILON); l)
for (const LayerRegion *layer_region : l->regions())
if (layer_region != nullptr && !layer_region->slices.empty()) {
perimeter_spacing += layer_region->flow(frPerimeter).scaled_spacing();
++ regions_count;
}
assert(perimeter_spacing >= 0.f);
if (regions_count != 0)
perimeter_spacing /= float(regions_count);
else
perimeter_spacing = get_default_perimeter_spacing(*layer.object());
return perimeter_spacing;
}
// Adds points around all vertices so that the offset affects only small sections around these vertices.
static void resample_polygon(Polygon &polygon, double dist_from_vertex)
{
@ -795,14 +989,14 @@ static ExPolygons get_boundary(const Layer &layer)
const float perimeter_spacing = get_perimeter_spacing(layer);
const float perimeter_offset = perimeter_spacing / 2.f;
auto const *support_layer = dynamic_cast<const SupportLayer *>(&layer);
ExPolygons boundary = union_ex(inner_offset(layer.lslices, perimeter_offset));
ExPolygons boundary = union_ex(inner_offset(layer.lslices, 1.5 * perimeter_spacing));
if(support_layer) {
#ifdef INCLUDE_SUPPORTS_IN_BOUNDARY
append(boundary, inner_offset(support_layer->support_islands.expolygons, perimeter_offset));
append(boundary, inner_offset(support_layer->support_islands.expolygons, 1.5 * perimeter_spacing));
#endif
auto *layer_below = layer.object()->get_first_layer_bellow_printz(layer.print_z, EPSILON);
if (layer_below)
append(boundary, inner_offset(layer_below->lslices, perimeter_offset));
append(boundary, inner_offset(layer_below->lslices, 1.5 * perimeter_spacing));
// After calling inner_offset it is necessary to call union_ex because of the possibility of intersection ExPolygons
boundary = union_ex(boundary);
}
@ -925,7 +1119,7 @@ Polyline AvoidCrossingPerimeters::travel_to(const GCode &gcodegen, const Point &
// Trim the travel line by the bounding box.
if (!m_internal.boundaries.empty() && Geometry::liang_barsky_line_clipping(startf, endf, m_internal.bbox)) {
travel_intersection_count = avoid_perimeters(m_internal, startf.cast<coord_t>(), endf.cast<coord_t>(), result_pl);
travel_intersection_count = avoid_perimeters(m_internal, startf.cast<coord_t>(), endf.cast<coord_t>(), *gcodegen.layer(), result_pl);
result_pl.points.front() = start;
result_pl.points.back() = end;
}
@ -936,7 +1130,7 @@ Polyline AvoidCrossingPerimeters::travel_to(const GCode &gcodegen, const Point &
// Trim the travel line by the bounding box.
if (!m_external.boundaries.empty() && Geometry::liang_barsky_line_clipping(startf, endf, m_external.bbox)) {
travel_intersection_count = avoid_perimeters(m_external, startf.cast<coord_t>(), endf.cast<coord_t>(), result_pl);
travel_intersection_count = avoid_perimeters(m_external, startf.cast<coord_t>(), endf.cast<coord_t>(), *gcodegen.layer(), result_pl);
result_pl.points.front() = start;
result_pl.points.back() = end;
}

6
src/libslic3r/GCode/AvoidCrossingPerimeters.hpp
View file

@ -35,13 +35,13 @@ public:
struct Boundary {
// Collection of boundaries used for detection of crossing perimeters for travels
Polygons boundaries;
Polygons boundaries;
// Bounding box of boundaries
BoundingBoxf bbox;
BoundingBoxf bbox;
// Precomputed distances of all points in boundaries
std::vector<std::vector<float>> boundaries_params;
// Used for detection of intersection between line and any polygon from boundaries
EdgeGrid::Grid grid;
EdgeGrid::Grid grid;
void clear()
{

28
src/libslic3r/Line.hpp
View file

@ -40,23 +40,42 @@ template<class L> auto get_b(L &&l) { return Traits<remove_cvref_t<L>>::get_b(l)
// Distance to the closest point of line.
template<class L>
double distance_to_squared(const L &line, const Vec<Dim<L>, Scalar<L>> &point)
double distance_to_squared(const L &line, const Vec<Dim<L>, Scalar<L>> &point, Vec<Dim<L>, Scalar<L>> *nearest_point)
{
const Vec<Dim<L>, double> v = (get_b(line) - get_a(line)).template cast<double>();
const Vec<Dim<L>, double> va = (point - get_a(line)).template cast<double>();
const double l2 = v.squaredNorm(); // avoid a sqrt
if (l2 == 0.0)
if (l2 == 0.0) {
// a == b case
*nearest_point = get_a(line);
return va.squaredNorm();
}
// Consider the line extending the segment, parameterized as a + t (b - a).
// We find projection of this point onto the line.
// It falls where t = [(this-a) . (b-a)] / |b-a|^2
const double t = va.dot(v) / l2;
if (t < 0.0) return va.squaredNorm(); // beyond the 'a' end of the segment
else if (t > 1.0) return (point - get_b(line)).template cast<double>().squaredNorm(); // beyond the 'b' end of the segment
if (t < 0.0) {
// beyond the 'a' end of the segment
*nearest_point = get_a(line);
return va.squaredNorm();
} else if (t > 1.0) {
// beyond the 'b' end of the segment
*nearest_point = get_b(line);
return (point - get_b(line)).template cast<double>().squaredNorm();
}
*nearest_point = (get_a(line).template cast<double>() + t * v).template cast<Scalar<L>>();
return (t * v - va).squaredNorm();
}
// Distance to the closest point of line.
template<class L>
double distance_to_squared(const L &line, const Vec<Dim<L>, Scalar<L>> &point)
{
Vec<Dim<L>, Scalar<L>> nearest_point;
return distance_to_squared<L>(line, point, &nearest_point);
}
template<class L>
double distance_to(const L &line, const Vec<Dim<L>, Scalar<L>> &point)
{
@ -81,6 +100,7 @@ public:
bool intersection_infinite(const Line &other, Point* point) const;
bool operator==(const Line &rhs) const { return this->a == rhs.a && this->b == rhs.b; }
double distance_to_squared(const Point &point) const { return distance_to_squared(point, this->a, this->b); }
double distance_to_squared(const Point &point, Point *closest_point) const { return line_alg::distance_to_squared(*this, point, closest_point); }
double distance_to(const Point &point) const { return distance_to(point, this->a, this->b); }
double perp_distance_to(const Point &point) const;
bool parallel_to(double angle) const;