From 64aafb2af2224d1fc4f280cfb39430e5fb8f829e Mon Sep 17 00:00:00 2001
From: Peter Barker <pbarker@barker.dropbear.id.au>
Date: Mon, 27 May 2019 10:49:57 +1000
Subject: [PATCH] AP_Math: add Polygon_outside tests for long template
 instantiation

---
 libraries/AP_Math/tests/test_polygon.cpp | 52 ++++++++++++++++++++++++
 1 file changed, 52 insertions(+)

diff --git a/libraries/AP_Math/tests/test_polygon.cpp b/libraries/AP_Math/tests/test_polygon.cpp
index 9987b02a41..fbccce6df1 100644
--- a/libraries/AP_Math/tests/test_polygon.cpp
+++ b/libraries/AP_Math/tests/test_polygon.cpp
@@ -53,6 +53,58 @@ TEST(Polygon, outside)
     }
 }
 
+
+struct PB_long {
+    Vector2l point;
+    Vector2l boundary[3];
+    bool outside;
+};
+
+static const PB_long points_boundaries_long[] = {
+    { {1000000,1000000}, {{0,0}, {0,10000000}, {10000000,0}}, false },
+
+     // test for winding order issues:
+    { {9000000,9000000}, {{0,0}, {10000000,0}, {0,10000000}}, true },
+    { {9000000,9000000}, {{0,10000000}, {0,0}, {10000000,0}}, true },
+    { {9000000,9000000}, {{10000000,0}, {0,10000000}, {0,0}}, true },
+    { {9000000,9000000}, {{0,10000000}, {10000000,0}, {0,0}}, true },
+
+    { {1000000,1000000}, {{0,0}, {10000000,0}, {0,10000000}}, false },
+    { {1000000,1000000}, {{0,10000000}, {0,0}, {10000000,0}}, false },
+    { {1000000,1000000}, {{10000000,0}, {0,10000000}, {0,0}}, false },
+    { {1000000,1000000}, {{0,10000000}, {10000000,0}, {0,0}}, false },
+
+    { {9900000-10,9900000-10}, {{0-10,10000000-10}, {10000000-10,0-10}, {0-10,0-10}}, true },
+
+    { {990000000,990000000}, {{0,100}, {100,0}, {0,0}}, true },
+
+    { {1000000,0}, {{0,0}, {0,10000000}, {10000000,0}}, false },
+    { {0,9900000}, {{0,0}, {0,10000000}, {10000000,0}}, false },
+    { {9900000,0}, {{0,0}, {0,10000000}, {10000000,0}}, false },
+
+    { {10100000,0}, {{0,0}, {0,10000000}, {10000000,0}}, true },
+    { {0,10100000}, {{0,0}, {0,10000000}, {10000000,0}}, true },
+
+    { {20000000,20000000}, {{0,0}, {0,10000000}, {10000000,0}}, true },
+    { {-20000000,-20000000}, {{0,0}, {0,10000000}, {10000000,0}}, true },
+
+    { {-500000,0}, {{0,0}, {0,10000000}, {10000000,0}}, true },
+    { {0,-500000}, {{0,0}, {0,10000000}, {10000000,0}}, true },
+};
+
+TEST(Polygon, outside_long)
+{
+    // uint8_t count = 0;
+    for (const struct PB_long &pb : points_boundaries_long) {
+        // ::fprintf(stderr, "count=%u\n", count++);
+        Vector2l v[4];
+        memcpy(v, pb.boundary, sizeof(pb.boundary));
+        v[3] = v[0]; // close it
+        EXPECT_EQ(pb.outside, Polygon_outside(pb.point, v, 4));
+    }
+}
+
+
 #define TEST_POLYGON_POINTS(POLYGON, TEST_POINTS)                       \
     do {                                                                \
         for (uint32_t i = 0; i < ARRAY_SIZE(TEST_POINTS); i++) {        \