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AP_Math: fixed a bug in segment_intersection()

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we could get an intercept point beyond the end of the segment
This commit is contained in:
Andrew Tridgell 2018-08-13 12:34:23 +10:00 committed by Peter Barker
parent 626467db14
commit c3cf8f5435
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_Math/vector2.cpp
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@ -160,7 +160,7 @@ bool Vector2<T>::segment_intersection(const Vector2<T>& seg1_start, const Vector
// u = (q - p) * r / (r * s)
float t = (ss2_ss1 % r2) / r1xr2;
float u = q_pxr / r1xr2;
if ((u >= 0) && (u <= 1) && (t >= 0)) {
if ((u >= 0) && (u <= 1) && (t >= 0) && (t <= 1)) {
// lines intersect
// t can be any non-negative value because (p, p + r) is a ray
// u must be between 0 and 1 because (q, q + s) is a line segment