CGAL 4.14 - 3D Fast Intersection and Distance Computation (AABB Tree)
AABB_tree/AABB_insertion_example.cpp
#include <iostream>
#include <CGAL/Simple_cartesian.h>
#include <CGAL/AABB_tree.h>
#include <CGAL/AABB_traits.h>
#include <CGAL/Polyhedron_3.h>
#include <CGAL/AABB_face_graph_triangle_primitive.h>
typedef K::FT FT;
typedef K::Point_3 Point;
typedef K::Segment_3 Segment;
typedef CGAL::Polyhedron_3<K> Polyhedron;
typedef Tree::Point_and_primitive_id Point_and_primitive_id;
int main()
{
Point p(1.0, 0.0, 0.0);
Point q(0.0, 1.0, 0.0);
Point r(0.0, 0.0, 1.0);
Point s(0.0, 0.0, 0.0);
Polyhedron polyhedron1;
polyhedron1.make_tetrahedron(p, q, r, s);
Point p2(11.0, 0.0, 0.0);
Point q2(10.0, 1.0, 0.0);
Point r2(10.0, 0.0, 1.0);
Point s2(10.0, 0.0, 0.0);
Polyhedron polyhedron2;
polyhedron2.make_tetrahedron(p2, q2, r2, s2);
// constructs AABB tree and computes internal KD-tree
// data structure to accelerate distance queries
Tree tree(faces(polyhedron1).first, faces(polyhedron1).second, polyhedron1);
tree.accelerate_distance_queries();
tree.insert(faces(polyhedron2).first, faces(polyhedron2).second, polyhedron2);
// query point
Point query(0.0, 0.0, 3.0);
// computes squared distance from query
FT sqd = tree.squared_distance(query);
std::cout << "squared distance: " << sqd << std::endl;
return EXIT_SUCCESS;
}