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AP_Math: buidl fix for templates

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This commit is contained in:
Andy Piper 2024-12-18 18:44:01 +00:00
parent 4f9ad370a3
commit ce6dcacb11
2 changed files with 21 additions and 28 deletions
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40
libraries/AP_Math/polygon.cpp
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@ -118,6 +118,26 @@ bool Polygon_complete(const Vector2<T> *V, unsigned n)
return (n >= 4 && V[n-1] == V[0]);
}
/*
return the closest distance that point p comes to an edge of closed
polygon V, defined by N points
*/
template <typename T>
float Polygon_closest_distance_point(const Vector2<T> *V, unsigned N, const Vector2<T> &p)
{
T closest_sq = std::numeric_limits<T>::max();
for (uint8_t i=0; i<N-1; i++) {
const Vector2<T> &v1 = V[i];
const Vector2<T> &v2 = V[i+1];
T dist_sq = Vector2<T>::closest_distance_between_line_and_point_squared(v1, v2, p);
if (dist_sq < closest_sq) {
closest_sq = dist_sq;
}
}
return sqrtF(closest_sq);
}
// Necessary to avoid linker errors
template bool Polygon_outside<int32_t>(const Vector2l &P, const Vector2l *V, unsigned n);
template bool Polygon_complete<int32_t>(const Vector2l *V, unsigned n);
@ -196,23 +216,3 @@ float Polygon_closest_distance_line(const Vector2f *V, unsigned N, const Vector2
}
return sqrtf(closest_sq);
}
/*
return the closest distance that point p comes to an edge of closed
polygon V, defined by N points
*/
template <typename T>
float Polygon_closest_distance_point(const Vector2<T> *V, unsigned N, const Vector2<T> &p)
{
T closest_sq = std::numeric_limits<T>::max();
for (uint8_t i=0; i<N-1; i++) {
const Vector2<T> &v1 = V[i];
const Vector2<T> &v2 = V[i+1];
T dist_sq = Vector2<T>::closest_distance_between_line_and_point_squared(v1, v2, p);
if (dist_sq < closest_sq) {
closest_sq = dist_sq;
}
}
return sqrtf(closest_sq);
}

9
libraries/AP_Math/vector2.cpp
View File

@ -20,13 +20,6 @@
#include "AP_Math.h"
template float Vector2f::closest_distance_between_line_and_point_squared(const Vector2f &w1,
const Vector2f &w2,
const Vector2f &p);
template int32_t Vector2l::closest_distance_between_line_and_point_squared(const Vector2l &w1,
const Vector2l &w2,
const Vector2l &p);
template <typename T>
T Vector2<T>::length_squared() const
{
@ -464,4 +457,4 @@ template bool Vector2<long>::operator ==(const Vector2<long> &v) const;
template bool Vector2<long>::operator !=(const Vector2<long> &v) const;
template bool Vector2<int>::operator ==(const Vector2<int> &v) const;
template bool Vector2<int>::operator !=(const Vector2<int> &v) const;
template int Vector2<int>::closest_distance_between_line_and_point_squared(Vector2<int> const&, Vector2<int> const&, Vector2<int> const&);