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AP_Math: consolidate error checking

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This commit is contained in:
Peter Barker 2021-01-04 12:24:53 +11:00 committed by Peter Barker
parent 4ffc559ccc
commit f534963413
1 changed files with 2 additions and 6 deletions
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8
libraries/AP_Math/vector2.cpp
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@ -200,7 +200,8 @@ bool Vector2<T>::circle_segment_intersection(const Vector2<T>& seg_start, const
const float b = 2 * ((seg_end_minus_start.x * seg_start_local.x) + (seg_end_minus_start.y * seg_start_local.y));
const float c = sq(seg_start_local.x) + sq(seg_start_local.y) - sq(radius);
if (isnan(a) || isnan(b) || isnan(c)) {
// check for invalid data
if (::is_zero(a) || isnan(a) || isnan(b) || isnan(c)) {
return false;
}
@ -210,11 +211,6 @@ bool Vector2<T>::circle_segment_intersection(const Vector2<T>& seg_start, const
return false;
}
// check for invalid data
if (::is_zero(a)) {
return false;
}
// check for invalid delta (i.e. discriminant)
if (delta < 0.0f) {
return false;