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AP_Math: AP_GeodesicGrid: fix algorithm for null vector 

If v is the null vector, then alpha * v is still the null vector for any alpha
as a real number. That means that the null vector doesn't cross any section.
This commit is contained in:
Gustavo Jose de Sousa 2016-04-18 13:56:16 -03:00 committed by Lucas De Marchi
parent c28c3265c8
commit eb90ef23a1
2 changed files with 7 additions and 7 deletions
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5
libraries/AP_Math/AP_GeodesicGrid.cpp
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@ -347,8 +347,7 @@ int AP_GeodesicGrid::_triangle_index(const Vector3f& v,
case 0:
/* There are two possible cases when balance is 1:
*
* 1) The vector v is the null vector. Arbitrarily return first
* triangle.
* 1) The vector v is the null vector, which doesn't cross any section.
*
* 2) One coefficient is zero, another is positive and yet another is
* negative. Let a, b and c be the respective vertices for those
@ -356,7 +355,7 @@ int AP_GeodesicGrid::_triangle_index(const Vector3f& v,
* are also valid here.
*/
if (zero_count == 3) {
return inclusive ? 0 : -1;
return -1;
}
if (!is_zero(w.x) && w.x < 0) {

9
libraries/AP_Math/AP_GeodesicGrid.h
View File

@ -121,8 +121,9 @@ public:
* are checked is unspecified. The default value for \p inclusive is
* false.
*
* @return The index of the section. The value -1 is returned if the
* section isn't found, which might happen when \p inclusive is false.
* @return The index of the section. The value -1 is returned if \p v is
* the null vector or the section isn't found, which might happen when \p
* inclusive is false.
*/
int section(const Vector3f& v, const bool inclusive = false) const;
@ -266,8 +267,8 @@ private:
* #section() const.
*
* @return The index of the icosahedron triangle. The value -1 is returned
* if the triangle isn't found, which might happen when \p inclusive is
* false.
* if \p v is the null vector or the triangle isn't found, which might
* happen when \p inclusive is false.
*/
int _from_neighbor_umbrella(int umbrella_index,
const Vector3f& v,