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authorFelix Hanley <felix@userspace.com.au>2016-11-21 15:56:46 +0000
committerFelix Hanley <felix@userspace.com.au>2016-11-21 15:56:46 +0000
commit411565dc3c87851017376545383d4afa65d9f833 (patch)
tree44733ff8242c193a95115b27f9e4e88ad3eadde1 /vendor/github.com/golang/geo/s2/predicates.go
parent98da73fe927ee67b62c1f286b0adb649a20c373c (diff)
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+/*
+Copyright 2016 Google Inc. All rights reserved.
+
+Licensed under the Apache License, Version 2.0 (the "License");
+you may not use this file except in compliance with the License.
+You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+Unless required by applicable law or agreed to in writing, software
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+*/
+
+package s2
+
+// This file contains various predicates that are guaranteed to produce
+// correct, consistent results. They are also relatively efficient. This is
+// achieved by computing conservative error bounds and falling back to high
+// precision or even exact arithmetic when the result is uncertain. Such
+// predicates are useful in implementing robust algorithms.
+//
+// See also EdgeCrosser, which implements various exact
+// edge-crossing predicates more efficiently than can be done here.
+
+import (
+ "math"
+
+ "github.com/golang/geo/r3"
+)
+
+const (
+ // epsilon is a small number that represents a reasonable level of noise between two
+ // values that can be considered to be equal.
+ epsilon = 1e-15
+ // dblEpsilon is a smaller number for values that require more precision.
+ dblEpsilon = 2.220446049250313e-16
+
+ // maxDeterminantError is the maximum error in computing (AxB).C where all vectors
+ // are unit length. Using standard inequalities, it can be shown that
+ //
+ // fl(AxB) = AxB + D where |D| <= (|AxB| + (2/sqrt(3))*|A|*|B|) * e
+ //
+ // where "fl()" denotes a calculation done in floating-point arithmetic,
+ // |x| denotes either absolute value or the L2-norm as appropriate, and
+ // e is a reasonably small value near the noise level of floating point
+ // number accuracy. Similarly,
+ //
+ // fl(B.C) = B.C + d where |d| <= (|B.C| + 2*|B|*|C|) * e .
+ //
+ // Applying these bounds to the unit-length vectors A,B,C and neglecting
+ // relative error (which does not affect the sign of the result), we get
+ //
+ // fl((AxB).C) = (AxB).C + d where |d| <= (3 + 2/sqrt(3)) * e
+ maxDeterminantError = 1.8274 * dblEpsilon
+
+ // detErrorMultiplier is the factor to scale the magnitudes by when checking
+ // for the sign of set of points with certainty. Using a similar technique to
+ // the one used for maxDeterminantError, the error is at most:
+ //
+ // |d| <= (3 + 6/sqrt(3)) * |A-C| * |B-C| * e
+ //
+ // If the determinant magnitude is larger than this value then we know
+ // its sign with certainty.
+ detErrorMultiplier = 3.2321 * dblEpsilon
+)
+
+// Direction is an indication of the ordering of a set of points.
+type Direction int
+
+// These are the three options for the direction of a set of points.
+const (
+ Clockwise Direction = -1
+ Indeterminate = 0
+ CounterClockwise = 1
+)
+
+// Sign returns true if the points A, B, C are strictly counterclockwise,
+// and returns false if the points are clockwise or collinear (i.e. if they are all
+// contained on some great circle).
+//
+// Due to numerical errors, situations may arise that are mathematically
+// impossible, e.g. ABC may be considered strictly CCW while BCA is not.
+// However, the implementation guarantees the following:
+//
+// If Sign(a,b,c), then !Sign(c,b,a) for all a,b,c.
+func Sign(a, b, c Point) bool {
+ // NOTE(dnadasi): In the C++ API the equivalent method here was known as "SimpleSign".
+
+ // We compute the signed volume of the parallelepiped ABC. The usual
+ // formula for this is (A ⨯ B) · C, but we compute it here using (C ⨯ A) · B
+ // in order to ensure that ABC and CBA are not both CCW. This follows
+ // from the following identities (which are true numerically, not just
+ // mathematically):
+ //
+ // (1) x ⨯ y == -(y ⨯ x)
+ // (2) -x · y == -(x · y)
+ return c.Cross(a.Vector).Dot(b.Vector) > 0
+}
+
+// RobustSign returns a Direction representing the ordering of the points.
+// CounterClockwise is returned if the points are in counter-clockwise order,
+// Clockwise for clockwise, and Indeterminate if any two points are the same (collinear),
+// or the sign could not completely be determined.
+//
+// This function has additional logic to make sure that the above properties hold even
+// when the three points are coplanar, and to deal with the limitations of
+// floating-point arithmetic.
+//
+// RobustSign satisfies the following conditions:
+//
+// (1) RobustSign(a,b,c) == Indeterminate if and only if a == b, b == c, or c == a
+// (2) RobustSign(b,c,a) == RobustSign(a,b,c) for all a,b,c
+// (3) RobustSign(c,b,a) == -RobustSign(a,b,c) for all a,b,c
+//
+// In other words:
+//
+// (1) The result is Indeterminate if and only if two points are the same.
+// (2) Rotating the order of the arguments does not affect the result.
+// (3) Exchanging any two arguments inverts the result.
+//
+// On the other hand, note that it is not true in general that
+// RobustSign(-a,b,c) == -RobustSign(a,b,c), or any similar identities
+// involving antipodal points.
+func RobustSign(a, b, c Point) Direction {
+ sign := triageSign(a, b, c)
+ if sign == Indeterminate {
+ sign = expensiveSign(a, b, c)
+ }
+ return sign
+}
+
+// stableSign reports the direction sign of the points in a numerically stable way.
+// Unlike triageSign, this method can usually compute the correct determinant sign
+// even when all three points are as collinear as possible. For example if three
+// points are spaced 1km apart along a random line on the Earth's surface using
+// the nearest representable points, there is only a 0.4% chance that this method
+// will not be able to find the determinant sign. The probability of failure
+// decreases as the points get closer together; if the collinear points are 1 meter
+// apart, the failure rate drops to 0.0004%.
+//
+// This method could be extended to also handle nearly-antipodal points, but antipodal
+// points are rare in practice so it seems better to simply fall back to
+// exact arithmetic in that case.
+func stableSign(a, b, c Point) Direction {
+ ab := b.Sub(a.Vector)
+ ab2 := ab.Norm2()
+ bc := c.Sub(b.Vector)
+ bc2 := bc.Norm2()
+ ca := a.Sub(c.Vector)
+ ca2 := ca.Norm2()
+
+ // Now compute the determinant ((A-C)x(B-C)).C, where the vertices have been
+ // cyclically permuted if necessary so that AB is the longest edge. (This
+ // minimizes the magnitude of cross product.) At the same time we also
+ // compute the maximum error in the determinant.
+
+ // The two shortest edges, pointing away from their common point.
+ var e1, e2, op r3.Vector
+ if ab2 >= bc2 && ab2 >= ca2 {
+ // AB is the longest edge.
+ e1, e2, op = ca, bc, c.Vector
+ } else if bc2 >= ca2 {
+ // BC is the longest edge.
+ e1, e2, op = ab, ca, a.Vector
+ } else {
+ // CA is the longest edge.
+ e1, e2, op = bc, ab, b.Vector
+ }
+
+ det := -e1.Cross(e2).Dot(op)
+ maxErr := detErrorMultiplier * math.Sqrt(e1.Norm2()*e2.Norm2())
+
+ // If the determinant isn't zero, within maxErr, we know definitively the point ordering.
+ if det > maxErr {
+ return CounterClockwise
+ }
+ if det < -maxErr {
+ return Clockwise
+ }
+ return Indeterminate
+}
+
+// triageSign returns the direction sign of the points. It returns Indeterminate if two
+// points are identical or the result is uncertain. Uncertain cases can be resolved, if
+// desired, by calling expensiveSign.
+//
+// The purpose of this method is to allow additional cheap tests to be done without
+// calling expensiveSign.
+func triageSign(a, b, c Point) Direction {
+ det := a.Cross(b.Vector).Dot(c.Vector)
+ if det > maxDeterminantError {
+ return CounterClockwise
+ }
+ if det < -maxDeterminantError {
+ return Clockwise
+ }
+ return Indeterminate
+}
+
+// expensiveSign reports the direction sign of the points. It returns Indeterminate
+// if two of the input points are the same. It uses multiple-precision arithmetic
+// to ensure that its results are always self-consistent.
+func expensiveSign(a, b, c Point) Direction {
+ // Return Indeterminate if and only if two points are the same.
+ // This ensures RobustSign(a,b,c) == Indeterminate if and only if a == b, b == c, or c == a.
+ // ie. Property 1 of RobustSign.
+ if a == b || b == c || c == a {
+ return Indeterminate
+ }
+
+ // Next we try recomputing the determinant still using floating-point
+ // arithmetic but in a more precise way. This is more expensive than the
+ // simple calculation done by triageSign, but it is still *much* cheaper
+ // than using arbitrary-precision arithmetic. This optimization is able to
+ // compute the correct determinant sign in virtually all cases except when
+ // the three points are truly collinear (e.g., three points on the equator).
+ detSign := stableSign(a, b, c)
+ if detSign != Indeterminate {
+ return detSign
+ }
+
+ // Otherwise fall back to exact arithmetic and symbolic permutations.
+ return exactSign(a, b, c, false)
+}
+
+// exactSign reports the direction sign of the points using exact precision arithmetic.
+func exactSign(a, b, c Point, perturb bool) Direction {
+ // In the C++ version, the final computation is performed using OpenSSL's
+ // Bignum exact precision math library. The existence of an equivalent
+ // library in Go is indeterminate. In C++, using the exact precision library
+ // to solve this stage is ~300x slower than the above checks.
+ // TODO(roberts): Select and incorporate an appropriate Go exact precision
+ // floating point library for the remaining calculations.
+ return Indeterminate
+}