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vector3: return w1 not zero vector #20369

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merged 2 commits into from
Mar 28, 2022
Merged

vector3: return w1 not zero vector #20369

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1c8d36a
vector3:return w1 not zero vector
xianglunkai Mar 28, 2022
47292af
test_3d_lines:fix test result for test_3d_lines
xianglunkai Mar 28, 2022
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2 changes: 1 addition & 1 deletion libraries/AP_Math/tests/test_3d_lines.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -26,7 +26,7 @@ TEST(Lines3dTests, ClosestDistBetweenLinePoint)

// check protection agains null length
const Vector3f intersection_null = Vector3f::point_on_line_closest_to_other_point(Vector3f{1.0f, 1.0f, 1.0f}, Vector3f{1.0f, 1.0f, 1.0f}, Vector3f{0.0f, 5.0f, 5.0f});
EXPECT_VECTOR3F_EQ((Vector3f{0.0f, 0.0f, 0.0f}), intersection_null);
EXPECT_VECTOR3F_EQ((Vector3f{1.0f, 1.0f, 1.0f}), intersection_null);
}

TEST(Lines3dTests, SegmentToSegmentCloestPoint)
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2 changes: 1 addition & 1 deletion libraries/AP_Math/vector3.cpp
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Expand Up @@ -509,7 +509,7 @@ Vector3<T> Vector3<T>::point_on_line_closest_to_other_point(const Vector3<T> &w1
const T line_vec_len = line_vec.length();
// protection against divide by zero
if(::is_zero(line_vec_len)) {
return {0.0f, 0.0f, 0.0f};
return w1;
}

const T scale = 1/line_vec_len;
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