Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_Math: correct variable init and remove define in polygon

This commit is contained in:
khancyr 2017-07-21 15:26:11 +02:00 committed by Randy Mackay
parent f7a00b911e
commit 15398f8b0e
1 changed files with 10 additions and 13 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

23
libraries/AP_Math/polygon.cpp
View File

@ -43,19 +43,16 @@ bool Polygon_outside(const Vector2<T> &P, const Vector2<T> *V, unsigned n)
if ((V[i].y > P.y) == (V[j].y > P.y)) {
continue;
}
int32_t dx1, dx2, dy1, dy2;
dx1 = P.x - V[i].x;
dx2 = V[j].x - V[i].x;
dy1 = P.y - V[i].y;
dy2 = V[j].y - V[i].y;
int8_t dx1s, dx2s, dy1s, dy2s, m1, m2;
#define sign(x) ((x)<0 ? -1 : 1)
dx1s = sign(dx1);
dx2s = sign(dx2);
dy1s = sign(dy1);
dy2s = sign(dy2);
m1 = dx1s * dy2s;
m2 = dx2s * dy1s;
const int32_t dx1 = P.x - V[i].x;
const int32_t dx2 = V[j].x - V[i].x;
const int32_t dy1 = P.y - V[i].y;
const int32_t dy2 = V[j].y - V[i].y;
const int8_t dx1s = (dx1 < 0) ? -1 : 1;
const int8_t dx2s = (dx2 < 0) ? -1 : 1;
const int8_t dy1s = (dy1 < 0) ? -1 : 1;
const int8_t dy2s = (dy2 < 0) ? -1 : 1;
const int8_t m1 = dx1s * dy2s;
const int8_t m2 = dx2s * dy1s;
// we avoid the 64 bit multiplies if we can based on sign checks.
if (dy2 < 0) {
if (m1 > m2) {