mirror of https://github.com/ArduPilot/ardupilot
66 lines
2.9 KiB
C++
66 lines
2.9 KiB
C++
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#include <AP_gtest.h>
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#include <AP_Math/vector2.h>
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#define EXPECT_VECTOR2F_EQ(v1, v2) \
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do { \
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EXPECT_FLOAT_EQ(v1[0], v2[0]); \
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EXPECT_FLOAT_EQ(v1[1], v2[1]); \
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} while (false);
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#define TEST_INTERSECT(s1p1x,s1p1y,s1p2x,s1p2y, s2p1x,s2p1y,s2p2x,s2p2y, ix,iy, expected) \
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do { \
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const Vector2f s1p1(s1p1x,s1p1y); \
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const Vector2f s1p2(s1p2x,s1p2y); \
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const Vector2f s2p1(s2p1x,s2p1y); \
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const Vector2f s2p2(s2p2x,s2p2y); \
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Vector2f calculated_intersection; \
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bool result = Vector2f::segment_intersection(s1p1, s1p2, s2p1, s2p2, calculated_intersection); \
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EXPECT_EQ(expected, result); \
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if (result == expected && expected) { \
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Vector2f expected_intersection{ix, iy}; \
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EXPECT_VECTOR2F_EQ(calculated_intersection, expected_intersection); \
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} \
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result = Vector2f::segment_intersection(s2p1, s2p2, s1p1, s1p2, calculated_intersection); \
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EXPECT_EQ(expected, result); \
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if (expected) { \
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Vector2f expected_intersection{ix, iy}; \
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EXPECT_VECTOR2F_EQ(calculated_intersection, expected_intersection); \
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EXPECT_EQ(Vector2f::point_on_segment(calculated_intersection,s1p1, s1p2), true); \
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EXPECT_EQ(Vector2f::point_on_segment(calculated_intersection,s2p1, s2p2), true); \
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} \
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} while (false);
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#define SHOULD_INTERSECT(s1p1x,s1p1y,s1p2x,s1p2y, s2p1x,s2p1y,s2p2x,s2p2y, ix, iy) \
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TEST_INTERSECT(s1p1x,s1p1y,s1p2x,s1p2y, s2p1x,s2p1y,s2p2x,s2p2y, ix, iy, true)
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#define SHOULD_NOT_INTERSECT(s1p1x,s1p1y,s1p2x,s1p2y, s2p1x,s2p1y,s2p2x,s2p2y) \
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TEST_INTERSECT(s1p1x,s1p1y,s1p2x,s1p2y, s2p1x,s2p1y,s2p2x,s2p2y, 0, 0, false)
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TEST(SegmentIntersectionTests, Simple)
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{
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SHOULD_INTERSECT(0,0,2,2, 2,0,0,2, 1,1);
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SHOULD_INTERSECT(0,0,5,5, 2,0,0,2, 1,1);
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}
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TEST(SegmentIntersectionTests, Parallel)
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{
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SHOULD_NOT_INTERSECT(0,0,0,1, 2,0,2,1);
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}
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// the following should probably intersect but don't:
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// TEST(SegmentIntersectionTests, Subsegment)
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// {
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// SHOULD_INTERSECT(0,0,0,2, 0,0,0,1, 1,1);
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// }
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// TEST(SegmentIntersectionTests, Identical)
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// {
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// SHOULD_INTERSECT(0,0,0,2, 0,0,0,2, 1,1);
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// }
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TEST(SegmentIntersectionTests, NonIntersecting)
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{
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SHOULD_NOT_INTERSECT(0,0,0,2, 1,1,1,2);
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SHOULD_NOT_INTERSECT(0,0,0,1, -2,2,2,2)
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}
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AP_GTEST_MAIN()
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