三维计算几何模板整理

typedef long long LL;
typedef unsigned long long ULL;
typedef vector <int> VI;
const int INF = 0x3f3f3f3f;
const double eps = 1e-10;
const int MOD = 100000007;
const int MAXN = 1000010;
const double PI = acos(-1.0);

/***********基础*************/
struct Point
{
    double x, y, z;
    Point(double x=0, double y=0, double z=0):x(x),y(y),z(z) { }
    inline void read()
    {
        scanf("%lf%lf%lf", &x, &y, &z);
    }
};
typedef Point Vector;

inline int dcmp(double x)
{
    if(fabs(x) < eps) return 0;
    else return x < 0 ? -1 : 1;
}

inline bool operator== (Point a, Point b)
{
    return dcmp(a.x - b.x) == 0 && dcmp(a.y - b.y) == 0 && dcmp(a.z - b.z) == 0;
}

inline Vector operator + (Vector A, Vector B)
{
    return Vector(A.x+B.x, A.y+B.y, A.z+B.z);
}
inline Vector operator - (Point A, Point B)
{
    return Vector(A.x-B.x, A.y-B.y, A.z-B.z);
}
inline Vector operator * (Vector A, double p)
{
    return Vector(A.x*p, A.y*p, A.z*p);
}
inline Vector operator / (Vector A, double p)
{
    return Vector(A.x/p, A.y/p, A.z/p);
}


inline double Dot(Vector A, Vector B)
{
    return A.x*B.x + A.y*B.y + A.z*B.z;
}
inline double Length(Vector A)
{
    return sqrt(Dot(A, A));
}
inline double Angle(Vector A, Vector B)
{
    return acos(Dot(A, B) / Length(A) / Length(B));
}
inline Vector Cross(Vector A, Vector B)
{
    return Vector(A.y*B.z - A.z*B.y, A.z*B.x - A.x*B.z, A.x*B.y - A.y*B.x);
}
inline double Area2(Point A, Point B, Point C)
{
    return Length(Cross(B-A, C-A));
}
inline double Volume6(Point A, Point B, Point C, Point D)
{
    return Dot(D-A, Cross(B-A, C-A));
}
// 四面体的重心
inline Point Centroid(Point A, Point B, Point C, Point D)
{
    return (A + B + C + D) / 4.0;
}

/************点线面*************/
// 点p到平面p0-n的距离。n必须为单位向量
inline double DistanceToPlane(Point p, Point p0, Vector n)
{
    return fabs(Dot(p-p0, n)); // 如果不取绝对值，得到的是有向距离
}

// 点p在平面p0-n上的投影。n必须为单位向量
inline Point GetPlaneProjection(Point p, Point p0, Vector n)
{
    return p-n*Dot(p-p0, n);
}

//直线p1-p2 与平面p0-n的交点
inline Point LinePlaneIntersection(Point p1, Point p2, Point p0, Vector n)
{
    Vector v = p2-p1;
    double t = (Dot(n, p0-p1) / Dot(n, p2-p1));//分母为0，直线与平面平行或在平面上
    return p1 + v*t; //如果是线段 判断t是否在0~1之间
}

// 点P到直线AB的距离
inline double DistanceToLine(Point P, Point A, Point B)
{
    Vector v1 = B - A, v2 = P - A;
    return Length(Cross(v1, v2)) / Length(v1);
}

//点到线段的距离
double DistanceToSeg(Point p, Point a, Point b)
{
    if(a == b) return Length(p-a);
    Vector v1 = b-a, v2 = p-a, v3 = p-b;
    if(dcmp(Dot(v1, v2)) < 0) return Length(v2);
    else if(dcmp(Dot(v1, v3)) > 0) return Length(v3);
    else return Length(Cross(v1, v2)) / Length(v1);
}

//求异面直线 p1+s*u与p2+t*v的公垂线对应的s 如果平行|重合，返回false
bool LineDistance3D(Point p1, Vector u, Point p2, Vector v, double& s)
{
    double b = Dot(u, u) * Dot(v, v) - Dot(u, v) * Dot(u, v);
    if(dcmp(b) == 0) return false;
    double a = Dot(u, v) * Dot(v, p1-p2) - Dot(v, v) * Dot(u, p1-p2);
    s = a/b;
    return true;
}

// p1和p2是否在线段a-b的同侧
inline bool SameSide(Point p1, Point p2, Point a, Point b)
{
    return dcmp(Dot(Cross(b-a, p1-a), Cross(b-a, p2-a))) >= 0;
}

// 点P在三角形P0, P1, P2中
inline bool PointInTri(Point P, Point P0, Point P1, Point P2)
{
    return SameSide(P, P0, P1, P2) && SameSide(P, P1, P0, P2) && SameSide(P, P2, P0, P1);
}

// 三角形P0P1P2是否和线段AB相交
bool TriSegIntersection(const Point& P0, const Point& P1, const Point& P2, const Point& A, const Point& B, Point& P)
{
    Vector n = Cross(P1-P0, P2-P0);
    if(dcmp(Dot(n, B-A)) == 0) return false; // 线段A-B和平面P0P1P2平行或共面
    else   // 平面A和直线P1-P2有惟一交点
    {
        double t = Dot(n, P0-A) / Dot(n, B-A);
        if(dcmp(t) < 0 || dcmp(t-1) > 0) return false; // 不在线段AB上
        P = A + (B-A)*t; // 交点
        return PointInTri(P, P0, P1, P2);
    }
}

//空间两三角形是否相交
bool TriTriIntersection(Point* T1, Point* T2)
{
    Point P;
    for(int i = 0; i < 3; i++)
    {
        if(TriSegIntersection(T1[0], T1[1], T1[2], T2[i], T2[(i+1)%3], P)) return true;
        if(TriSegIntersection(T2[0], T2[1], T2[2], T1[i], T1[(i+1)%3], P)) return true;
    }
    return false;
}

//空间两直线上最近点对 返回最近距离 点对保存在ans1 ans2中
double SegSegDistance(Point a1, Point b1, Point a2, Point b2, Point& ans1, Point& ans2)
{
    Vector v1 = (a1-b1), v2 = (a2-b2);
    Vector N = Cross(v1, v2);
    Vector ab = (a1-a2);
    double ans = Dot(N, ab) / Length(N);
    Point p1 = a1, p2 = a2;
    Vector d1 = b1-a1, d2 = b2-a2;
    double t1, t2;
    t1 = Dot((Cross(p2-p1, d2)), Cross(d1, d2));
    t2 = Dot((Cross(p2-p1, d1)), Cross(d1, d2));
    double dd = Length((Cross(d1, d2)));
    t1 /= dd*dd;
    t2 /= dd*dd;
    ans1 = (a1 + (b1-a1)*t1);
    ans2 = (a2 + (b2-a2)*t2);
    return fabs(ans);
}

// 判断P是否在三角形A, B, C中，并且到三条边的距离都至少为mindist。保证P, A, B, C共面
bool InsideWithMinDistance(const Point& P, const Point& A, const Point& B, const Point& C, double mindist)
{
    if(!PointInTri(P, A, B, C)) return false;
    if(DistanceToLine(P, A, B) < mindist) return false;
    if(DistanceToLine(P, B, C) < mindist) return false;
    if(DistanceToLine(P, C, A) < mindist) return false;
    return true;
}

// 判断P是否在凸四边形ABCD（顺时针或逆时针）中，并且到四条边的距离都至少为mindist。保证P, A, B, C, D共面
bool InsideWithMinDistance(const Point& P, const Point& A, const Point& B, const Point& C, const Point& D, double mindist)
{
    if(!PointInTri(P, A, B, C)) return false;
    if(!PointInTri(P, C, D, A)) return false;
    if(DistanceToLine(P, A, B) < mindist) return false;
    if(DistanceToLine(P, B, C) < mindist) return false;
    if(DistanceToLine(P, C, D) < mindist) return false;
    if(DistanceToLine(P, D, A) < mindist) return false;
    return true;
}


/*************凸包相关问题*******************/
//加干扰
inline double rand01()
{
    return rand() / (double)RAND_MAX;
}
inline double randeps()
{
    return (rand01() - 0.5) * eps;
}
inline Point add_noise(const Point& p)
{
    return Point(p.x + randeps(), p.y + randeps(), p.z + randeps());
}

struct Face
{
    int v[3];
    Face(int a, int b, int c)
    {
        v[0] = a;
        v[1] = b;
        v[2] = c;
    }
    inline Vector Normal(const vector<Point>& P) const
    {
        return Cross(P[v[1]]-P[v[0]], P[v[2]]-P[v[0]]);
    }
    // f是否能看见P[i]
    inline int CanSee(const vector<Point>& P, int i) const
    {
        return Dot(P[i]-P[v[0]], Normal(P)) > 0;
    }
};

// 增量法求三维凸包
// 注意：没有考虑各种特殊情况（如四点共面）。实践中，请在调用前对输入点进行微小扰动
vector<Face> CH3D(const vector<Point>& P)
{
    int n = P.size();
    vector<vector<int> > vis(n);
    for(int i = 0; i < n; i++) vis[i].resize(n);

    vector<Face> cur;
    cur.push_back(Face(0, 1, 2)); // 由于已经进行扰动，前三个点不共线
    cur.push_back(Face(2, 1, 0));
    for(int i = 3; i < n; i++)
    {
        vector<Face> next;
        // 计算每条边的“左面”的可见性
        for(int j = 0; j < (int)cur.size(); j++)
        {
            Face& f = cur[j];
            int res = f.CanSee(P, i);
            if(!res) next.push_back(f);
            for(int k = 0; k < 3; k++) vis[f.v[k]][f.v[(k+1)%3]] = res;
        }
        for(int j = 0; j < (int)cur.size(); j++)
            for(int k = 0; k < 3; k++)
            {
                int a = cur[j].v[k], b = cur[j].v[(k+1)%3];
                if(vis[a][b] != vis[b][a] && vis[a][b]) // (a,b)是分界线，左边对P[i]可见
                    next.push_back(Face(a, b, i));
            }
        cur = next;
    }
    return cur;
}

struct ConvexPolyhedron
{
    int n;
    vector<Point> P, P2;
    vector<Face> faces;

    bool read()
    {
        if(scanf("%d", &n) != 1) return false;
        P.resize(n);
        P2.resize(n);
        for(int i = 0; i < n; i++)
        {
            P[i].read();
            P2[i] = add_noise(P[i]);
        }
        faces = CH3D(P2);
        return true;
    }

    //三维凸包重心
    Point centroid()
    {
        Point C = P[0];
        double totv = 0;
        Point tot(0,0,0);
        for(int i = 0; i < (int)faces.size(); i++)
        {
            Point p1 = P[faces[i].v[0]], p2 = P[faces[i].v[1]], p3 = P[faces[i].v[2]];
            double v = -Volume6(p1, p2, p3, C);
            totv += v;
            tot = tot + Centroid(p1, p2, p3, C)*v;
        }
        return tot / totv;
    }
    //凸包重心到表面最近距离
    double mindist(Point C)
    {
        double ans = 1e30;
        for(int i = 0; i < (int)faces.size(); i++)
        {
            Point p1 = P[faces[i].v[0]], p2 = P[faces[i].v[1]], p3 = P[faces[i].v[2]];
            ans = min(ans, fabs(-Volume6(p1, p2, p3, C) / Area2(p1, p2, p3)));
        }
        return ans;
    }
};


int main()
{
    //freopen("input.txt", "r", stdin);
    return 0;
}

网上模板：

double DistanceToSegment(Point3 p,Point3 a,Point3 b)
{
    //点 p 到线段 ab 距离
    if(a==b)return Length(p-a);
    Point3 v1=b-a,v2=p-a,v3=p-b;
    if(dcmp(Dot(v1,v2))<0) return Length(v2);
    else if(dcmp(Dot(v1,v3))>0) return Length(v3);
    else return Length(Cross(v1,v2))/Length(v1);
}
double TriCir(Point a,Point s,Point d,Circle c,vector<Point> v)
{
    //三角形与圆面积交
    //其中圆心是 a ,三角形　abc
    double x1=Length(s-a),x2=Length(d-a);
    double vv,bb;
    if(dcmp(x1-c.r)<=0&&dcmp(x2-c.r)<=0)return Area2(a,s,d)/2;
    if(dcmp(x1-c.r)>0&&dcmp(x2-c.r)>0)
    {
        if(DistanceToLine(c.c,s,d)>=c.r)return Angle(d-a,s-a)*c.r*c.r/2;
        else
        {
            v.clear();
            getLineCircleIntersection(Line(s,d-s),c,vv,bb,v);
            vv=Angle(v[0]-a,v[1]-a);
            return min(Angle(v[0]-a,d-a)+Angle(v[1]-a,s-a),Angle(v[1]-a,d-a)+Angle(v[0]-a,s-a))/2*c.r*c.r+sin(Angle(v[0]-a,v[1]-a))/2*c.r*c.r;
        }
    }
    if(dcmp(x1-c.r)>0&&dcmp(x2-c.r)<=0)
    {
        v.clear();
        getLineCircleIntersection(Line(s,d-s),c,vv,bb,v);
        if(OnSegment(v[1],s,d))
        {
            v[0]=v[1];
            printf("$$");
        }
        return Area2(a,d,v[0])/2+Angle(v[0]-a,s-a)*c.r*c.r/2;
    }
    if(dcmp(x1-c.r)<=0&&dcmp(x2-c.r)>0)
    {
        v.clear();
        getLineCircleIntersection(Line(s,d-s),c,vv,bb,v);
        if(OnSegment(v[1],s,d))v[0]=v[1];
        return Area2(a,s,v[0])/2+Angle(v[0]-a,d-a)*c.r*c.r/2;
    }
}