update cgal to 6.0.1

Saurav Agarwal · Saurav Agarwal · commit 3a93897229ce · 2024-11-03T13:45:24.000-05:00
diff --git a/cppsrc/core/CMakeLists.txt b/cppsrc/core/CMakeLists.txt
@@ -93,7 +93,7 @@ find_package(Boost REQUIRED COMPONENTS iostreams)
 ###########################
 #### Eigen3 dependency ####
 ###########################
-find_package(Eigen3 3.4 EXACT QUIET)
+find_package(Eigen3 3.4 QUIET)
 if(NOT Eigen3_FOUND OR Eigen3_VERSION VERSION_LESS 3.4)
   message(STATUS "Eigen3 3.4 not found, fetching it")
   include(FetchContent)
@@ -108,18 +108,18 @@ endif()
 ###########################
 #### CGAL dependency ####
 ###########################
-find_package(CGAL 5.6.1 EXACT QUIET)
-if(NOT CGAL_FOUND OR CGAL_VERSION VERSION_LESS 5.6.1)
-  message(STATUS "CGAL 5.6.1 not found, fetching it")
+find_package(CGAL 6.0.1 EXACT QUIET)
+if(NOT CGAL_FOUND OR CGAL_VERSION VERSION_LESS 6.0.1)
+  message(STATUS "CGAL 6.0.1 not found, fetching it")
   include(FetchContent)
   FetchContent_Declare(CGAL
-    URL https://github.com/CGAL/cgal/releases/download/v5.6.1/CGAL-5.6.1.tar.xz
-    URL_HASH SHA256=cdb15e7ee31e0663589d3107a79988a37b7b1719df3d24f2058545d1bcdd5837
+    URL https://github.com/CGAL/cgal/releases/download/v6.0.1/CGAL-6.0.1.tar.xz
+    URL_HASH SHA256=0acdfbf317c556630dd526f3253780f29b6ec9713ee92903e81b5c93c0f59b7f 
   )
   set(FETCHCONTENT_QUIET FALSE) # show progress dialog
   FetchContent_Populate(CGAL)   # finish fetching and unpacking before continuing
   set(CGAL_DIR "${FETCHCONTENT_BASE_DIR}/cgal-src")
-  find_package(CGAL 5.6.1 REQUIRED)
+  find_package(CGAL 6.0.1 REQUIRED)
 endif()
 
 ###########################
diff --git a/cppsrc/core/include/CoverageControl/cgal/config.h b/cppsrc/core/include/CoverageControl/cgal/config.h
@@ -29,6 +29,7 @@
 #ifndef CPPSRC_CORE_INCLUDE_COVERAGECONTROL_CGAL_CONFIG_H_
 #define CPPSRC_CORE_INCLUDE_COVERAGECONTROL_CGAL_CONFIG_H_
 
+#include <CGAL/basic.h>
 #include <CGAL/Arr_linear_traits_2.h>
 #include <CGAL/Arr_walk_along_line_point_location.h>
 #include <CGAL/Arrangement_2.h>
@@ -42,6 +43,8 @@
 #include <CGAL/partition_2.h>
 #include <CGAL/point_generators_2.h>
 #include <CGAL/random_polygon_2.h>
+#include <CGAL/Arr_point_location_result.h>
+#include <CGAL/Arr_batched_point_location.h>
 
 typedef CGAL::Exact_predicates_exact_constructions_kernel K;
 typedef K::Point_2 CGAL_Point2;
@@ -56,11 +59,14 @@ typedef CGAL::Polygon_with_holes_2<K> Polygon_with_holes_2;
 
 typedef CGAL::Arr_linear_traits_2<K> Traits_2;
 typedef CGAL::Arrangement_2<Traits_2> Arrangement_2;
-typedef CGAL::Arr_walk_along_line_point_location<Arrangement_2> CGAL_pl;
 
 typedef CGAL::Partition_traits_2<K> Partition_traits_2;
 
 typedef CGAL::Creator_uniform_2<double, CGAL_Point2> Creator;
 typedef CGAL::Random_points_in_square_2<CGAL_Point2, Creator> Point_generator;
 
+typedef CGAL::Arr_walk_along_line_point_location<Arrangement_2> CGAL_pl;
+using CGAL_Point_location_result = CGAL::Arr_point_location_result<Arrangement_2>;
+using CGAL_Query_result = std::pair<CGAL_Point2, CGAL_Point_location_result::Type>;
+
 #endif  // CPPSRC_CORE_INCLUDE_COVERAGECONTROL_CGAL_CONFIG_H_
diff --git a/cppsrc/core/src/voronoi.cpp b/cppsrc/core/src/voronoi.cpp
@@ -233,14 +233,23 @@ void Voronoi::ComputeVoronoiCells() {
   /* std::cout << "lines inserted" << std::endl; */
   /* CGAL::insert(arr, vor.segments_.begin(), vor.segments_.end()); */
   /* std::cout << "arr end" << std::endl; */
-  CGAL_pl cgal_pl(arr);
+  // CGAL_pl cgal_pl(arr);
   /* std::cout << "cgal_pl end" << std::endl; */
 
+  std::vector<CGAL_Query_result> query_results_vor, query_results_vor_sorted;
   if (compute_single_ == true) {
     auto pt = CGAL_sites[robot_id_];
+    std::list<CGAL_Point2> temp_site; temp_site.push_back(pt);
+    CGAL::locate(arr, temp_site.begin(), temp_site.end(), std::back_inserter(query_results_vor));
     Polygon_2 polygon;
-    auto pt_obj = cgal_pl.locate(pt);
-    auto f = boost::get<Arrangement_2::Face_const_handle>(&pt_obj);
+    const Arrangement_2::Face_const_handle* f;
+    if ((f = std::get_if<Arrangement_2::Face_const_handle>(&query_results_vor[0].second))) {
+      if((*f)->is_unbounded()) {
+        throw std::runtime_error{"inside the unbounded face."};
+      }
+    } else {
+      throw std::runtime_error{"Invalid object."};
+    }
     CGAL_CCBTraversal<Arrangement_2>((*f)->outer_ccb(), polygon);
     if (not polygon.is_counterclockwise_oriented()) {
       polygon.reverse_orientation();
@@ -262,14 +271,30 @@ void Voronoi::ComputeVoronoiCells() {
   /* PrunePolygons(polygon_list, map_size_); */
   // Create voronoi_cells_ such that the correct cell is assigned to the robot
   /* std::cout << "Before parallel for" << std::endl; */
+  CGAL::locate(arr, CGAL_sites.begin(), CGAL_sites.end(), std::back_inserter(query_results_vor));
+  /* Results (point, object) are in xy-lexicographic order */
+  /* Need to sort the results to match the order of the sites */
+  for (int i = 0; i < num_sites_; ++i) {
+
+    auto it = std::find_if(query_results_vor.begin(), query_results_vor.end(),
+                           [i, CGAL_sites](CGAL_Query_result const &qr) {
+                             return qr.first == CGAL_sites[i];
+                           });
+    if (it == query_results_vor.end()) {
+      throw std::runtime_error{"Could not find a query result"};
+    }
+    query_results_vor_sorted.push_back(*it);
+  }
+
 #pragma omp parallel for num_threads(num_sites_)
   for (int iSite = 0; iSite < num_sites_; ++iSite) {
-    auto pt = CGAL_sites[iSite];
-    auto pt_obj = cgal_pl.locate(pt);
-    auto *f = boost::get<Arrangement_2::Face_const_handle>(&pt_obj);
-    if (not f) {
-      std::cout << pt << std::endl;
-      throw std::runtime_error{"Could not find a face for the robot"};
+    const Arrangement_2::Face_const_handle* f;
+    if ((f = std::get_if<Arrangement_2::Face_const_handle>(&query_results_vor_sorted[iSite].second))) {
+      if((*f)->is_unbounded()) {
+        throw std::runtime_error{"inside the unbounded face."};
+      }
+    } else {
+      throw std::runtime_error{"Invalid object."};
     }
     /* CGAL_CCBTraversal<Arrangement_2> ((*f)->outer_ccb(), polygon); */
     Polygon_2 polygon;
@@ -291,7 +316,7 @@ void Voronoi::ComputeVoronoiCells() {
     /*   polygon.reverse_orientation(); */
     /* } */
     VoronoiCell vcell;
-    vcell.site = CGALtoCC(pt);
+    vcell.site = CGALtoCC(CGAL_sites[iSite]);
     vcell.cell.reserve(polygon.size());
     for (auto const &p : polygon) {
       vcell.cell.push_back(CGALtoCC(p));
diff --git a/cppsrc/setup.sh b/cppsrc/setup.sh
@@ -71,7 +71,8 @@ then
 fi
 
 InstallCoverageControl () {
-	cmake -S ${DIR}/core -B ${BUILD_DIR}/CoverageControl ${CMAKE_END_FLAGS}
+  export CGAL_DISABLE_GMP=ON
+	export CGAL_DISABLE_GMP=1; cmake -S ${DIR}/core -B ${BUILD_DIR}/CoverageControl ${CMAKE_END_FLAGS}
 	cmake --build ${BUILD_DIR}/CoverageControl -j$(nproc)
 	if [ $? -ne 0 ]; then
 		echo "CoverageControl build failed"
