Intersection between a circle and a segment
(Mylib/Geometry/Float/intersect_circle_segment.cpp)

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• Last update: 2021-04-23 23:44:44+09:00
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Operations

Requirements

Notes

Problems

References

Depends on

• Distance between a segment and a point (Mylib/Geometry/Float/distance_segment_point.cpp)
• Geometry template (Mylib/Geometry/Float/geometry_template.cpp)

Required by

• Area of intersection between a circle and a polygon (Mylib/Geometry/Float/area_intersection_of_circle_and_polygon.cpp)

Verified with

• test/aoj/CGL_7_H/main.test.cpp

Code

#pragma once
#include <vector>
#include "Mylib/Geometry/Float/distance_segment_point.cpp"
#include "Mylib/Geometry/Float/geometry_template.cpp"

namespace haar_lib {
  namespace intersect_circle_segment_impl {
    enum class status_t { INSIDE,
                          OUTSIDE,
                          TANGENT,
                          ONE_CROSSPOINT,
                          TWO_CROSSPOINTS };
    template <typename T>
    struct result {
      status_t status;
      std::vector<point<T>> crosspoints;
      bool is_inside() const { return status == status_t::INSIDE; }
      bool is_outside() const { return status == status_t::OUTSIDE; }
      bool is_tangent() const { return status == status_t::TANGENT; }
      bool has_one_crosspoint() const { return status == status_t::ONE_CROSSPOINT; }
      bool has_two_crosspoints() const { return status == status_t::TWO_CROSSPOINTS; }
    };
  }  // namespace intersect_circle_segment_impl

  template <typename T>
  auto intersect_circle_segment(const circle<T> &cl, const line<T> &s) {
    using namespace intersect_circle_segment_impl;

    const T r     = cl.radius;
    const auto &c = cl.center;

    const T d1   = abs(c - s.from);
    const T d2   = abs(c - s.to);
    const T v    = distance_segment_point(s, c);
    const T m    = sqrt(r * r - v * v);
    const auto n = normal(s);
    const auto k = s.from + diff(s) * cross(n, c + n - s.from) / cross(n, diff(s));

    if (d1 < r and d2 < r) {
      return result<T>({status_t::INSIDE, {}});
    } else if (v == r) {
      return result<T>({status_t::TANGENT, {k}});
    } else if (v > r) {
      return result<T>({status_t::OUTSIDE, {}});
    } else if (d1 >= r and d2 >= r) {
      return result<T>({status_t::TWO_CROSSPOINTS, {k - unit(s) * m, k + unit(s) * m}});
    }

    const T b = dot(unit(s), s.from - c);
    const T a = abs_sq(s.from - c) - r * r;
    const T x = sqrt(b * b - a);

    return result<T>(
        {status_t::ONE_CROSSPOINT,
         {s.from + unit(s) * (-b - x >= 0 ? -b - x : -b + x)}});
  }
}  // namespace haar_lib

#line 2 "Mylib/Geometry/Float/intersect_circle_segment.cpp"
#include <vector>
#line 2 "Mylib/Geometry/Float/geometry_template.cpp"
#include <cmath>
#include <iostream>
#line 5 "Mylib/Geometry/Float/geometry_template.cpp"

namespace haar_lib {
  template <typename T>
  struct vec {
    T x, y;
    vec() {}
    vec(T x, T y) : x(x), y(y) {}

    friend auto operator+(const vec &a, const vec &b) { return vec(a.x + b.x, a.y + b.y); }
    friend auto operator-(const vec &a, const vec &b) { return vec(a.x - b.x, a.y - b.y); }
    friend auto operator-(const vec &a) { return vec(-a.x, -a.y); }

    friend bool operator==(const vec &a, const vec &b) { return a.x == b.x and a.y == b.y; }
    friend bool operator!=(const vec &a, const vec &b) { return !(a == b); }
    friend bool operator<(const vec &a, const vec &b) { return a.x < b.x or (a.x == b.x and a.y < b.y); }

    friend std::istream &operator>>(std::istream &s, vec &a) {
      s >> a.x >> a.y;
      return s;
    }
  };

  template <typename T, typename U>
  auto operator*(const vec<T> &a, const U &k) { return vec<T>(a.x * k, a.y * k); }
  template <typename T, typename U>
  auto operator*(const U &k, const vec<T> &a) { return vec<T>(a.x * k, a.y * k); }
  template <typename T, typename U>
  auto operator/(const vec<T> &a, const U &k) { return vec<T>(a.x / k, a.y / k); }

  template <typename T>
  using point = vec<T>;

  template <typename T>
  T abs(const vec<T> &a) { return sqrt(a.x * a.x + a.y * a.y); }
  template <typename T>
  T abs_sq(const vec<T> &a) { return a.x * a.x + a.y * a.y; }

  template <typename T>
  T dot(const vec<T> &a, const vec<T> &b) { return a.x * b.x + a.y * b.y; }
  template <typename T>
  T cross(const vec<T> &a, const vec<T> &b) { return a.x * b.y - a.y * b.x; }

  template <typename T>
  auto unit(const vec<T> &a) { return a / abs(a); }
  template <typename T>
  auto normal(const vec<T> &p) { return vec<T>(-p.y, p.x); }

  template <typename T>
  auto polar(const T &r, const T &ang) { return vec<T>(r * cos(ang), r * sin(ang)); }

  template <typename T>
  T angle(const vec<T> &a, const vec<T> &b) { return atan2(b.y - a.y, b.x - a.x); }
  template <typename T>
  T phase(const vec<T> &a) { return atan2(a.y, a.x); }

  template <typename T>
  T angle_diff(const vec<T> &a, const vec<T> &b) {
    T r = phase(b) - phase(a);

    if (r < -M_PI)
      return r + 2 * M_PI;
    else if (r > M_PI)
      return r - 2 * M_PI;
    return r;
  }

  template <typename T>
  struct line {
    point<T> from, to;
    line() : from(), to() {}
    line(const point<T> &from, const point<T> &to) : from(from), to(to) {}
  };

  template <typename T>
  using segment = line<T>;

  template <typename T>
  auto unit(const line<T> &a) { return unit(a.to - a.from); }
  template <typename T>
  auto normal(const line<T> &a) { return normal(a.to - a.from); }

  template <typename T>
  auto diff(const segment<T> &a) { return a.to - a.from; }

  template <typename T>
  T abs(const segment<T> &a) { return abs(diff(a)); }

  template <typename T>
  T dot(const line<T> &a, const line<T> &b) { return dot(diff(a), diff(b)); }
  template <typename T>
  T cross(const line<T> &a, const line<T> &b) { return cross(diff(a), diff(b)); }

  template <typename T>
  using polygon = std::vector<point<T>>;

  template <typename T>
  struct circle {
    point<T> center;
    T radius;
    circle() : center(), radius(0) {}
    circle(const point<T> &center, T radius) : center(center), radius(radius) {}
  };

  template <typename T>
  std::ostream &operator<<(std::ostream &s, const vec<T> &a) {
    s << "(" << a.x << ", " << a.y << ")";
    return s;
  }

  template <typename T>
  std::ostream &operator<<(std::ostream &s, const line<T> &a) {
    s << "(" << a.from << " -> " << a.to << ")";
    return s;
  }

  template <typename T>
  std::ostream &operator<<(std::ostream &s, const circle<T> &a) {
    s << "("
      << "center: " << a.center << ", "
      << "radius: " << a.radius << ")";
    return s;
  }
}  // namespace haar_lib
#line 3 "Mylib/Geometry/Float/distance_segment_point.cpp"

namespace haar_lib {
  template <typename T>
  T distance_segment_point(const segment<T> &l, const point<T> &p) {
    if (dot(diff(l), p - l.from) < 0) return abs(p - l.from);
    if (dot(-diff(l), p - l.to) < 0) return abs(p - l.to);
    return abs(cross(diff(l), p - l.from)) / abs(l);
  }
}  // namespace haar_lib
#line 5 "Mylib/Geometry/Float/intersect_circle_segment.cpp"

namespace haar_lib {
  namespace intersect_circle_segment_impl {
    enum class status_t { INSIDE,
                          OUTSIDE,
                          TANGENT,
                          ONE_CROSSPOINT,
                          TWO_CROSSPOINTS };
    template <typename T>
    struct result {
      status_t status;
      std::vector<point<T>> crosspoints;
      bool is_inside() const { return status == status_t::INSIDE; }
      bool is_outside() const { return status == status_t::OUTSIDE; }
      bool is_tangent() const { return status == status_t::TANGENT; }
      bool has_one_crosspoint() const { return status == status_t::ONE_CROSSPOINT; }
      bool has_two_crosspoints() const { return status == status_t::TWO_CROSSPOINTS; }
    };
  }  // namespace intersect_circle_segment_impl

  template <typename T>
  auto intersect_circle_segment(const circle<T> &cl, const line<T> &s) {
    using namespace intersect_circle_segment_impl;

    const T r     = cl.radius;
    const auto &c = cl.center;

    const T d1   = abs(c - s.from);
    const T d2   = abs(c - s.to);
    const T v    = distance_segment_point(s, c);
    const T m    = sqrt(r * r - v * v);
    const auto n = normal(s);
    const auto k = s.from + diff(s) * cross(n, c + n - s.from) / cross(n, diff(s));

    if (d1 < r and d2 < r) {
      return result<T>({status_t::INSIDE, {}});
    } else if (v == r) {
      return result<T>({status_t::TANGENT, {k}});
    } else if (v > r) {
      return result<T>({status_t::OUTSIDE, {}});
    } else if (d1 >= r and d2 >= r) {
      return result<T>({status_t::TWO_CROSSPOINTS, {k - unit(s) * m, k + unit(s) * m}});
    }

    const T b = dot(unit(s), s.from - c);
    const T a = abs_sq(s.from - c) - r * r;
    const T x = sqrt(b * b - a);

    return result<T>(
        {status_t::ONE_CROSSPOINT,
         {s.from + unit(s) * (-b - x >= 0 ? -b - x : -b + x)}});
  }
}  // namespace haar_lib

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