[GL] Use Point3d::asEigenVector3d().

GeoLib/AnalyticalGeometry.cpp

@@ -152,10 +152,10 @@ bool lineSegmentIntersect(GeoLib::LineSegment const& s0,
         return false;
     }
 
-    auto const a = s0.getBeginPoint().asEigenVector3d();
-    auto const b = s0.getEndPoint().asEigenVector3d();
-    auto const c = s1.getBeginPoint().asEigenVector3d();
-    auto const d = s1.getEndPoint().asEigenVector3d();
+    auto const& a = s0.getBeginPoint().asEigenVector3d();
+    auto const& b = s0.getEndPoint().asEigenVector3d();
+    auto const& c = s1.getBeginPoint().asEigenVector3d();
+    auto const& d = s1.getEndPoint().asEigenVector3d();
 
     Eigen::Vector3d const v = b - a;
     Eigen::Vector3d const w = d - c;
@@ -369,16 +369,10 @@ std::unique_ptr<GeoLib::Point> triangleLineIntersection(
     MathLib::Point3d const& c, MathLib::Point3d const& p,
     MathLib::Point3d const& q)
 {
-    auto const va = a.asEigenVector3d();
-    auto const vb = b.asEigenVector3d();
-    auto const vc = c.asEigenVector3d();
-    auto const vp = p.asEigenVector3d();
-    auto const vq = q.asEigenVector3d();
-
-    Eigen::Vector3d const pq = vq - vp;
-    Eigen::Vector3d const pa = va - vp;
-    Eigen::Vector3d const pb = vb - vp;
-    Eigen::Vector3d const pc = vc - vp;
+    Eigen::Vector3d const pq = q.asEigenVector3d() - p.asEigenVector3d();
+    Eigen::Vector3d const pa = a.asEigenVector3d() - p.asEigenVector3d();
+    Eigen::Vector3d const pb = b.asEigenVector3d() - p.asEigenVector3d();
+    Eigen::Vector3d const pc = c.asEigenVector3d() - p.asEigenVector3d();
 
     double u = pq.cross(pc).dot(pb);
     if (u < 0)

GeoLib/MinimalBoundingSphere.cpp

@@ -34,13 +34,11 @@ MinimalBoundingSphere::MinimalBoundingSphere(MathLib::Point3d const& p,
                                              MathLib::Point3d const& q)
     : _radius(std::numeric_limits<double>::epsilon()), _center(p)
 {
-    auto const& vp = p.asEigenVector3d();
-    auto const& vq = q.asEigenVector3d();
-    Eigen::Vector3d const a = vq - vp;
+    Eigen::Vector3d const a = q.asEigenVector3d() - p.asEigenVector3d();
 
     Eigen::Vector3d o = a / 2;
     _radius = o.norm() + std::numeric_limits<double>::epsilon();
-    o += vp;
+    o += p.asEigenVector3d();
     _center = MathLib::Point3d{{o[0], o[1], o[2]}};
 }
 
@@ -49,10 +47,8 @@ MinimalBoundingSphere::MinimalBoundingSphere(MathLib::Point3d const& p,
                                              MathLib::Point3d const& r)
 {
     auto const& vp = p.asEigenVector3d();
-    auto const& vq = q.asEigenVector3d();
-    auto const& vr = r.asEigenVector3d();
-    Eigen::Vector3d const a = vr - vp;
-    Eigen::Vector3d const b = vq - vp;
+    Eigen::Vector3d const a = r.asEigenVector3d() - vp;
+    Eigen::Vector3d const b = q.asEigenVector3d() - vp;
     Eigen::Vector3d const axb = a.cross(b);
 
     if (axb.squaredNorm() > 0)
@@ -85,11 +81,9 @@ MinimalBoundingSphere::MinimalBoundingSphere(MathLib::Point3d const& p,
                                              MathLib::Point3d const& r,
                                              MathLib::Point3d const& s)
 {
-    auto const& vp = p.asEigenVector3d();
-
-    Eigen::Vector3d const va = q.asEigenVector3d() - vp;
-    Eigen::Vector3d const vb = r.asEigenVector3d() - vp;
-    Eigen::Vector3d const vc = s.asEigenVector3d() - vp;
+    Eigen::Vector3d const va = q.asEigenVector3d() - p.asEigenVector3d();
+    Eigen::Vector3d const vb = r.asEigenVector3d() - p.asEigenVector3d();
+    Eigen::Vector3d const vc = s.asEigenVector3d() - p.asEigenVector3d();
 
     if (!MathLib::isCoplanar(p, q, r, s))
     {
@@ -100,7 +94,7 @@ MinimalBoundingSphere::MinimalBoundingSphere(MathLib::Point3d const& p,
             denom;
 
         _radius = o.norm() + std::numeric_limits<double>::epsilon();
-        o += vp;
+        o += p.asEigenVector3d();
         _center = MathLib::Point3d({o[0], o[1], o[2]});
     }
     else