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AP_Math: Update segment_to_segment_dis test

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Rishabh 2021-06-03 00:27:24 +05:30 committed by Randy Mackay
parent 730cf0ad9b
commit b9fbf1a661
1 changed files with 6 additions and 8 deletions
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8
libraries/AP_Math/tests/test_3d_lines.cpp
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@ -29,20 +29,18 @@ TEST(Lines3dTests, ClosestDistBetweenLinePoint)
EXPECT_VECTOR3F_EQ((Vector3f{0.0f, 0.0f, 0.0f}), intersection_null);
}
TEST(Lines3dTests, SegmentToSegmentDistance)
TEST(Lines3dTests, SegmentToSegmentCloestPoint)
{
// random segments test
Vector3f intersection;
float dist = Vector3f::segment_to_segment_dist(Vector3f{-10.0f,0.0f,0.0f}, Vector3f{10.0f,0.0f,0.0f}, Vector3f{0.0f, -5.0f, 1.0}, Vector3f{0.0f, 5.0f, 1.0f}, intersection);
EXPECT_FLOAT_EQ(dist, 1.0f);
Vector3f::segment_to_segment_closest_point(Vector3f{-10.0f,0.0f,0.0f}, Vector3f{10.0f,0.0f,0.0f}, Vector3f{0.0f, -5.0f, 1.0}, Vector3f{0.0f, 5.0f, 1.0f}, intersection);
EXPECT_VECTOR3F_EQ(intersection, (Vector3f{0.0f, 0.0f, 1.0f}));
// check for intersecting segments. Verify with the 2-d variant
dist = Vector3f::segment_to_segment_dist(Vector3f{}, Vector3f{10.0f,10.0f,0.0f}, Vector3f{2.0f, -10.0f, 0.0}, Vector3f{3.0f, 10.0f, 0.0f}, intersection);
Vector3f::segment_to_segment_closest_point(Vector3f{}, Vector3f{10.0f,10.0f,0.0f}, Vector3f{2.0f, -10.0f, 0.0}, Vector3f{3.0f, 10.0f, 0.0f}, intersection);
Vector2f intersection_2d;
const bool result = Vector2f::segment_intersection(Vector2f{}, Vector2f{10.0f,10.0}, Vector2f{2.0f, -10.0f}, Vector2f{3.0f, 10.0f}, intersection_2d);
EXPECT_EQ(true, result);
EXPECT_FLOAT_EQ(dist, 0.0f);
EXPECT_VECTOR3F_EQ(intersection, (Vector3f(intersection_2d.x, intersection_2d.y, 0.0f)));
}